diff --git a/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log b/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..d67055bbd51db1de8ece732f20bb2deea1a2c8b0 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log @@ -0,0 +1,3690 @@ +05/25 06:21:44 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/25 06:21:44 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes [pipeline.py: 1279] +05/25 06:21:44 INFO: Evaluation configuration: [pipeline.py: 1286] +05/25 06:21:44 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [101, + 169, + 203, + 254, + 304, + 377, + 416, + 446, + 475, + 530, + 1032, + 1073, + 1107, + 1159, + 1219, + 1270, + 1299, + 1326, + 1355, + 1381, + 1408, + 1420, + 1498, + 1555, + 1604, + 1651, + 1686, + 1722, + 1763, + 1810, + 1872, + 1907, + 1937, + 1955, + 1993, + 2026, + 2059, + 2101, + 2135, + 2157, + 2191, + 2218, + 2247, + 2298, + 2351, + 2391, + 2415, + 2462, + 2503, + 2541, + 2585, + 2623, + 2653, + 2695, + 2728, + 2766, + 2807, + 2846, + 2875, + 2915, + 2970, + 3019, + 3045, + 3103, + 3180, + 3211, + 3241, + 3273, + 3299, + 3362, + 3407, + 3463, + 3490, + 3525, + 3560, + 3590, + 3606, + 3635, + 3665, + 3723, + 3761, + 3814, + 3846, + 3877, + 3899, + 3918, + 3965, + 3998, + 4032, + 4086, + 4148, + 4188, + 4240, + 4290, + 4335, + 4398, + 4444, + 4495, + 4536, + 4571, + 4623, + 4706, + 4757, + 4807, + 4837, + 4853, + 4902, + 4954, + 4992, + 5020, + 5059, + 5118, + 5145, + 5198, + 5228, + 5259, + 5289, + 5316, + 5351, + 5387, + 5453], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/25 06:21:44 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/25 06:21:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:21:44 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/25 06:21:44 INFO: [Worker 0] Worker 0 starting house 101 (index 0/121) [pipeline.py: 473] +05/25 06:21:44 INFO: [Worker 0] Loaded 1 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:21:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:21:55 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/25 06:22:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_101_ceiling.xml [task_sampler.py: 797] +05/25 06:22:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:22:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:22:01 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 06:22:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:22:01 INFO: [Worker 0] Sampled task 'Pick up the black high heel' [task_sampler.py: 1136] +05/25 06:22:01 INFO: [Worker 0] Worker 0 house 101 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:22:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:22:01 WARNING: [Worker 0] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene [object_manager.py: 1238] +05/25 06:22:01 WARNING: [Worker 0] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene [object_manager.py: 1238] +05/25 06:26:04 INFO: [Worker 0] Worker 0 house 101 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 06:26:08 INFO: [Worker 0] Batching and saving trajectory data for house_101: 1 episodes [pipeline.py: 233] +05/25 06:26:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:26:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:26:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_101 [save_utils.py: 703] +05/25 06:26:11 INFO: [Worker 0] Successfully saved trajectory data for house_101 in 2.71s (batch: 2.61s, save: 0.10s) [pipeline.py: 280] +05/25 06:26:11 WARNING: [Worker 0] No trajectory data to save for house_101 [pipeline.py: 229] +05/25 06:26:11 INFO: [Worker 0] Worker 0 completed house 101: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:26:11 INFO: [Worker 0] Worker 0 starting house 169 (index 1/121) [pipeline.py: 473] +05/25 06:26:11 INFO: [Worker 0] Loaded 1 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:26:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:26:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_169_ceiling.xml [task_sampler.py: 797] +05/25 06:26:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:26:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:26:16 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 06:26:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:26:16 INFO: [Worker 0] Sampled task 'Pick up the white embossed wedding invitation card' [task_sampler.py: 1136] +05/25 06:26:16 INFO: [Worker 0] Worker 0 house 169 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:26:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:26:16 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene [object_manager.py: 1238] +05/25 06:26:16 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/25 06:26:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:28:23 INFO: [Worker 0] Worker 0 house 169 episode 0 object objainvitationcard_24b2de2ae5ff4cbba9bdaa2b33b109ee_2_0_6 completed with success=False [pipeline.py: 1114] +05/25 06:28:27 INFO: [Worker 0] Batching and saving trajectory data for house_169: 1 episodes [pipeline.py: 233] +05/25 06:28:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:28:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:28:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_169 [save_utils.py: 703] +05/25 06:28:30 INFO: [Worker 0] Successfully saved trajectory data for house_169 in 2.95s (batch: 2.83s, save: 0.12s) [pipeline.py: 280] +05/25 06:28:31 WARNING: [Worker 0] No trajectory data to save for house_169 [pipeline.py: 229] +05/25 06:28:31 INFO: [Worker 0] Worker 0 completed house 169: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:28:31 INFO: [Worker 0] Worker 0 starting house 203 (index 2/121) [pipeline.py: 473] +05/25 06:28:31 INFO: [Worker 0] Loaded 1 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:28:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:28:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_203_ceiling.xml [task_sampler.py: 797] +05/25 06:28:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:28:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:28:36 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/25 06:28:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:28:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:28:36 INFO: [Worker 0] Sampled task 'Pick up the black camera with lens' [task_sampler.py: 1136] +05/25 06:28:36 INFO: [Worker 0] Worker 0 house 203 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:28:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:30:34 INFO: [Worker 0] Worker 0 house 203 episode 0 object objadigitalcamera_485a9d31df964df4b3ddf75c8513eead_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:30:38 INFO: [Worker 0] Batching and saving trajectory data for house_203: 1 episodes [pipeline.py: 233] +05/25 06:30:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:30:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:30:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_203 [save_utils.py: 703] +05/25 06:30:41 INFO: [Worker 0] Successfully saved trajectory data for house_203 in 3.01s (batch: 2.91s, save: 0.10s) [pipeline.py: 280] +05/25 06:30:42 WARNING: [Worker 0] No trajectory data to save for house_203 [pipeline.py: 229] +05/25 06:30:42 INFO: [Worker 0] Worker 0 completed house 203: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:30:42 INFO: [Worker 0] Worker 0 starting house 254 (index 3/121) [pipeline.py: 473] +05/25 06:30:42 INFO: [Worker 0] Loaded 1 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:30:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:30:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_254_ceiling.xml [task_sampler.py: 797] +05/25 06:30:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=254, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:30:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:30:48 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/25 06:30:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:30:48 INFO: [Worker 0] Sampled task 'Pick up the beige virtual reality goggles with components' [task_sampler.py: 1136] +05/25 06:30:48 INFO: [Worker 0] Worker 0 house 254 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:30:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:30:49 WARNING: [Worker 0] Could not find object objaartifact_9525cde4b189451289432e3f98ffc90d_1_0_7 in scene [object_manager.py: 1238] +05/25 06:30:49 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_7 in scene [object_manager.py: 1238] +05/25 06:33:07 INFO: [Worker 0] Worker 0 house 254 episode 0 object objavirtualrealitygoggles_99bdd66f6a6745a98f4bee07963480ee_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 06:33:11 INFO: [Worker 0] Batching and saving trajectory data for house_254: 1 episodes [pipeline.py: 233] +05/25 06:33:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:33:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:33:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_254 [save_utils.py: 703] +05/25 06:33:14 INFO: [Worker 0] Successfully saved trajectory data for house_254 in 3.06s (batch: 2.93s, save: 0.13s) [pipeline.py: 280] +05/25 06:33:15 WARNING: [Worker 0] No trajectory data to save for house_254 [pipeline.py: 229] +05/25 06:33:15 INFO: [Worker 0] Worker 0 completed house 254: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:33:15 INFO: [Worker 0] Worker 0 starting house 304 (index 4/121) [pipeline.py: 473] +05/25 06:33:15 INFO: [Worker 0] Loaded 1 episodes for house 304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:33:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:33:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_304_ceiling.xml [task_sampler.py: 797] +05/25 06:33:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=304, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:33:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:33:21 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 06:33:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:33:21 INFO: [Worker 0] Sampled task 'Pick up the blue calendar with mountains' [task_sampler.py: 1136] +05/25 06:33:21 INFO: [Worker 0] Worker 0 house 304 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:33:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:33:21 WARNING: [Worker 0] Could not find object objafood_3fe13164a6074993a8670a22d8feec41_1_0_2 in scene [object_manager.py: 1238] +05/25 06:33:21 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene [object_manager.py: 1238] +05/25 06:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:35:24 INFO: [Worker 0] Worker 0 house 304 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:35:28 INFO: [Worker 0] Batching and saving trajectory data for house_304: 1 episodes [pipeline.py: 233] +05/25 06:35:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:35:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:35:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_304 [save_utils.py: 703] +05/25 06:35:31 INFO: [Worker 0] Successfully saved trajectory data for house_304 in 2.67s (batch: 2.58s, save: 0.10s) [pipeline.py: 280] +05/25 06:35:31 WARNING: [Worker 0] No trajectory data to save for house_304 [pipeline.py: 229] +05/25 06:35:31 INFO: [Worker 0] Worker 0 completed house 304: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:35:31 INFO: [Worker 0] Worker 0 starting house 377 (index 5/121) [pipeline.py: 473] +05/25 06:35:31 INFO: [Worker 0] Loaded 1 episodes for house 377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:35:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:35:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_377_ceiling.xml [task_sampler.py: 797] +05/25 06:35:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=377, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:35:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:35:37 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/25 06:35:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:35:38 INFO: [Worker 0] Sampled task 'Pick up the rough brown wooden club tool' [task_sampler.py: 1136] +05/25 06:35:38 INFO: [Worker 0] Worker 0 house 377 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:35:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:35:38 WARNING: [Worker 0] Could not find object objamount_b44ed71003e149cc98576162a09d588c_2_0_8 in scene [object_manager.py: 1238] +05/25 06:37:45 INFO: [Worker 0] Worker 0 house 377 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 06:37:49 INFO: [Worker 0] Batching and saving trajectory data for house_377: 1 episodes [pipeline.py: 233] +05/25 06:37:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:37:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:37:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_377 [save_utils.py: 703] +05/25 06:37:52 INFO: [Worker 0] Successfully saved trajectory data for house_377 in 2.97s (batch: 2.87s, save: 0.10s) [pipeline.py: 280] +05/25 06:37:52 WARNING: [Worker 0] No trajectory data to save for house_377 [pipeline.py: 229] +05/25 06:37:52 INFO: [Worker 0] Worker 0 completed house 377: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:37:52 INFO: [Worker 0] Worker 0 starting house 416 (index 6/121) [pipeline.py: 473] +05/25 06:37:52 INFO: [Worker 0] Loaded 1 episodes for house 416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:37:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_416_ceiling.xml [task_sampler.py: 797] +05/25 06:37:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=416, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:37:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:37:59 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 06:37:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:37:59 INFO: [Worker 0] Sampled task 'Pick up the ratcheting pipe cutter' [task_sampler.py: 1136] +05/25 06:37:59 INFO: [Worker 0] Worker 0 house 416 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:37:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:38:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:38:21 INFO: [Worker 0] Worker 0 house 416 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 06:38:24 INFO: [Worker 0] Batching and saving trajectory data for house_416: 1 episodes [pipeline.py: 233] +05/25 06:38:24 INFO: [Worker 0] Preparing episode data: 72 timesteps [save_utils.py: 284] +05/25 06:38:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:38:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_416 [save_utils.py: 703] +05/25 06:38:27 INFO: [Worker 0] Successfully saved trajectory data for house_416 in 2.50s (batch: 2.45s, save: 0.04s) [pipeline.py: 280] +05/25 06:38:28 WARNING: [Worker 0] No trajectory data to save for house_416 [pipeline.py: 229] +05/25 06:38:28 INFO: [Worker 0] Worker 0 completed house 416: 1/1 successful episodes [pipeline.py: 1243] +05/25 06:38:28 INFO: [Worker 0] Worker 0 starting house 446 (index 7/121) [pipeline.py: 473] +05/25 06:38:28 INFO: [Worker 0] Loaded 1 episodes for house 446 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:38:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_446_ceiling.xml [task_sampler.py: 797] +05/25 06:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=446, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/25 06:38:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:38:35 INFO: [Worker 0] Sampled task 'Pick up the white plastic drain' [task_sampler.py: 1136] +05/25 06:38:35 INFO: [Worker 0] Worker 0 house 446 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:38:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:38:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:40:36 INFO: [Worker 0] Worker 0 house 446 episode 0 object objadraincover_568b96b1661844cb816633d29f722ccb_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 06:40:40 INFO: [Worker 0] Batching and saving trajectory data for house_446: 1 episodes [pipeline.py: 233] +05/25 06:40:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:40:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:40:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_446 [save_utils.py: 703] +05/25 06:40:43 INFO: [Worker 0] Successfully saved trajectory data for house_446 in 2.82s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/25 06:40:43 WARNING: [Worker 0] No trajectory data to save for house_446 [pipeline.py: 229] +05/25 06:40:43 INFO: [Worker 0] Worker 0 completed house 446: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:40:43 INFO: [Worker 0] Worker 0 starting house 475 (index 8/121) [pipeline.py: 473] +05/25 06:40:43 INFO: [Worker 0] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:40:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:40:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_475_ceiling.xml [task_sampler.py: 797] +05/25 06:40:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:40:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:40:49 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 06:40:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:40:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:40:49 INFO: [Worker 0] Sampled task 'Pick up the metallic ratchet wrench with green handle' [task_sampler.py: 1136] +05/25 06:40:49 INFO: [Worker 0] Worker 0 house 475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:40:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:40:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:42:59 INFO: [Worker 0] Worker 0 house 475 episode 0 object objaratchetwrench_aa7f0ee6602d4e979f6dca5a8e7d3db8_2_0_7 completed with success=False [pipeline.py: 1114] +05/25 06:43:03 INFO: [Worker 0] Batching and saving trajectory data for house_475: 1 episodes [pipeline.py: 233] +05/25 06:43:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:43:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:43:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_475 [save_utils.py: 703] +05/25 06:43:06 INFO: [Worker 0] Successfully saved trajectory data for house_475 in 2.76s (batch: 2.65s, save: 0.11s) [pipeline.py: 280] +05/25 06:43:06 WARNING: [Worker 0] No trajectory data to save for house_475 [pipeline.py: 229] +05/25 06:43:06 INFO: [Worker 0] Worker 0 completed house 475: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:43:06 INFO: [Worker 0] Worker 0 starting house 530 (index 9/121) [pipeline.py: 473] +05/25 06:43:06 INFO: [Worker 0] Loaded 1 episodes for house 530 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:43:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:43:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_530_ceiling.xml [task_sampler.py: 797] +05/25 06:43:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=530, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:43:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:43:12 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/25 06:43:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:43:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:43:12 INFO: [Worker 0] Sampled task 'Pick up the shallow round gray stone dish' [task_sampler.py: 1136] +05/25 06:43:12 INFO: [Worker 0] Worker 0 house 530 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:43:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:45:08 INFO: [Worker 0] Worker 0 house 530 episode 0 object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 06:45:11 INFO: [Worker 0] Batching and saving trajectory data for house_530: 1 episodes [pipeline.py: 233] +05/25 06:45:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:45:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:45:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_530 [save_utils.py: 703] +05/25 06:45:14 INFO: [Worker 0] Successfully saved trajectory data for house_530 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/25 06:45:15 WARNING: [Worker 0] No trajectory data to save for house_530 [pipeline.py: 229] +05/25 06:45:15 INFO: [Worker 0] Worker 0 completed house 530: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:45:15 INFO: [Worker 0] Worker 0 starting house 1032 (index 10/121) [pipeline.py: 473] +05/25 06:45:15 INFO: [Worker 0] Loaded 1 episodes for house 1032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:45:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:45:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1032_ceiling.xml [task_sampler.py: 797] +05/25 06:45:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1032, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:45:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:45:20 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 06:45:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:45:20 INFO: [Worker 0] Sampled task 'Pick up the long brown braided ponytail' [task_sampler.py: 1136] +05/25 06:45:20 INFO: [Worker 0] Worker 0 house 1032 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:45:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:47:34 INFO: [Worker 0] Worker 0 house 1032 episode 0 object objahairaccessory_7934fe02dc2a40f39e08f53e0d19ec61_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 06:47:38 INFO: [Worker 0] Batching and saving trajectory data for house_1032: 1 episodes [pipeline.py: 233] +05/25 06:47:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:47:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:47:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1032 [save_utils.py: 703] +05/25 06:47:41 INFO: [Worker 0] Successfully saved trajectory data for house_1032 in 2.74s (batch: 2.63s, save: 0.11s) [pipeline.py: 280] +05/25 06:47:41 WARNING: [Worker 0] No trajectory data to save for house_1032 [pipeline.py: 229] +05/25 06:47:41 INFO: [Worker 0] Worker 0 completed house 1032: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:47:41 INFO: [Worker 0] Worker 0 starting house 1073 (index 11/121) [pipeline.py: 473] +05/25 06:47:41 INFO: [Worker 0] Loaded 1 episodes for house 1073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:47:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:47:43 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 06:47:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1073_ceiling.xml [task_sampler.py: 797] +05/25 06:47:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1073, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:47:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:47:47 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 06:47:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:47:47 INFO: [Worker 0] Sampled task 'Pick up the metal wrench' [task_sampler.py: 1136] +05/25 06:47:47 INFO: [Worker 0] Worker 0 house 1073 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:47:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:47:47 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene [object_manager.py: 1238] +05/25 06:47:47 WARNING: [Worker 0] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene [object_manager.py: 1238] +05/25 06:47:47 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/25 06:49:59 INFO: [Worker 0] Worker 0 house 1073 episode 0 object objacombinationwrench_2dae5fa80a454d2a9ddf4e8167fcdf61_2_0_3 completed with success=False [pipeline.py: 1114] +05/25 06:50:03 INFO: [Worker 0] Batching and saving trajectory data for house_1073: 1 episodes [pipeline.py: 233] +05/25 06:50:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:50:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:50:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1073 [save_utils.py: 703] +05/25 06:50:06 INFO: [Worker 0] Successfully saved trajectory data for house_1073 in 2.83s (batch: 2.70s, save: 0.13s) [pipeline.py: 280] +05/25 06:50:06 WARNING: [Worker 0] No trajectory data to save for house_1073 [pipeline.py: 229] +05/25 06:50:06 INFO: [Worker 0] Worker 0 completed house 1073: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:50:06 INFO: [Worker 0] Worker 0 starting house 1107 (index 12/121) [pipeline.py: 473] +05/25 06:50:06 INFO: [Worker 0] Loaded 1 episodes for house 1107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:50:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:50:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1107_ceiling.xml [task_sampler.py: 797] +05/25 06:50:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1107, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:50:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:50:10 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 06:50:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:50:10 INFO: [Worker 0] Sampled task 'Pick up the black handheld two-way radio' [task_sampler.py: 1136] +05/25 06:50:10 INFO: [Worker 0] Worker 0 house 1107 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:50:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:50:10 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene [object_manager.py: 1238] +05/25 06:50:10 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene [object_manager.py: 1238] +05/25 06:50:10 WARNING: [Worker 0] Could not find object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 in scene [object_manager.py: 1238] +05/25 06:50:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:52:18 INFO: [Worker 0] Worker 0 house 1107 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 06:52:22 INFO: [Worker 0] Batching and saving trajectory data for house_1107: 1 episodes [pipeline.py: 233] +05/25 06:52:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:52:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:52:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1107 [save_utils.py: 703] +05/25 06:52:25 INFO: [Worker 0] Successfully saved trajectory data for house_1107 in 3.02s (batch: 2.90s, save: 0.12s) [pipeline.py: 280] +05/25 06:52:26 WARNING: [Worker 0] No trajectory data to save for house_1107 [pipeline.py: 229] +05/25 06:52:26 INFO: [Worker 0] Worker 0 completed house 1107: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:52:26 INFO: [Worker 0] Worker 0 starting house 1159 (index 13/121) [pipeline.py: 473] +05/25 06:52:26 INFO: [Worker 0] Loaded 1 episodes for house 1159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:52:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:52:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1159_ceiling.xml [task_sampler.py: 797] +05/25 06:52:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1159, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:52:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:52:30 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 06:52:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:52:30 INFO: [Worker 0] Sampled task 'Pick up the white rectangular tea biscuit package' [task_sampler.py: 1136] +05/25 06:52:30 INFO: [Worker 0] Worker 0 house 1159 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:52:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:52:31 WARNING: [Worker 0] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene [object_manager.py: 1238] +05/25 06:52:31 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/25 06:52:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:54:49 INFO: [Worker 0] Worker 0 house 1159 episode 0 object objafoodpackage_f58c3fdf6e5f41ddae3b6b3e2d7fbae7_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 06:54:53 INFO: [Worker 0] Batching and saving trajectory data for house_1159: 1 episodes [pipeline.py: 233] +05/25 06:54:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:54:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1159 [save_utils.py: 703] +05/25 06:54:56 INFO: [Worker 0] Successfully saved trajectory data for house_1159 in 2.91s (batch: 2.79s, save: 0.12s) [pipeline.py: 280] +05/25 06:54:57 WARNING: [Worker 0] No trajectory data to save for house_1159 [pipeline.py: 229] +05/25 06:54:57 INFO: [Worker 0] Worker 0 completed house 1159: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:54:57 INFO: [Worker 0] Worker 0 starting house 1219 (index 14/121) [pipeline.py: 473] +05/25 06:54:57 INFO: [Worker 0] Loaded 1 episodes for house 1219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:54:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:55:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1219_ceiling.xml [task_sampler.py: 797] +05/25 06:55:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1219, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:55:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:55:01 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 06:55:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:55:01 INFO: [Worker 0] Sampled task 'Pick up the orange wavy terracotta roof tile' [task_sampler.py: 1136] +05/25 06:55:01 INFO: [Worker 0] Worker 0 house 1219 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:55:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:55:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:57:00 INFO: [Worker 0] Worker 0 house 1219 episode 0 object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 completed with success=True [pipeline.py: 1114] +05/25 06:57:04 INFO: [Worker 0] Batching and saving trajectory data for house_1219: 1 episodes [pipeline.py: 233] +05/25 06:57:04 INFO: [Worker 0] Preparing episode data: 398 timesteps [save_utils.py: 284] +05/25 06:57:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:57:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1219 [save_utils.py: 703] +05/25 06:57:06 INFO: [Worker 0] Successfully saved trajectory data for house_1219 in 2.71s (batch: 2.62s, save: 0.10s) [pipeline.py: 280] +05/25 06:57:07 WARNING: [Worker 0] No trajectory data to save for house_1219 [pipeline.py: 229] +05/25 06:57:07 INFO: [Worker 0] Worker 0 completed house 1219: 1/1 successful episodes [pipeline.py: 1243] +05/25 06:57:07 INFO: [Worker 0] Worker 0 starting house 1270 (index 15/121) [pipeline.py: 473] +05/25 06:57:07 INFO: [Worker 0] Loaded 1 episodes for house 1270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:57:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:57:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1270_ceiling.xml [task_sampler.py: 797] +05/25 06:57:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1270, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:57:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:57:09 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/25 06:57:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:57:09 INFO: [Worker 0] Sampled task 'Pick up the wooden bookmark with butterfly' [task_sampler.py: 1136] +05/25 06:57:09 INFO: [Worker 0] Worker 0 house 1270 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:57:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:57:09 WARNING: [Worker 0] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_2 in scene [object_manager.py: 1238] +05/25 06:57:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:58:35 INFO: [Worker 0] Worker 0 house 1270 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:58:39 INFO: [Worker 0] Batching and saving trajectory data for house_1270: 1 episodes [pipeline.py: 233] +05/25 06:58:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:58:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:58:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1270 [save_utils.py: 703] +05/25 06:58:42 INFO: [Worker 0] Successfully saved trajectory data for house_1270 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/25 06:58:42 WARNING: [Worker 0] No trajectory data to save for house_1270 [pipeline.py: 229] +05/25 06:58:42 INFO: [Worker 0] Worker 0 completed house 1270: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:58:42 INFO: [Worker 0] Worker 0 starting house 1299 (index 16/121) [pipeline.py: 473] +05/25 06:58:42 INFO: [Worker 0] Loaded 1 episodes for house 1299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 06:58:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:58:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1299_ceiling.xml [task_sampler.py: 797] +05/25 06:58:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1299, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:58:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:58:44 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 06:58:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:58:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:58:44 INFO: [Worker 0] Sampled task 'Pick up the long wooden dowel with star-shaped core' [task_sampler.py: 1136] +05/25 06:58:44 INFO: [Worker 0] Worker 0 house 1299 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:58:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:58:44 WARNING: [Worker 0] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_3 in scene [object_manager.py: 1238] +05/25 06:58:44 WARNING: [Worker 0] Could not find object objawoodenartifact_897e929421d84f8ab8c03a1d4ecb856b_1_0_3 in scene [object_manager.py: 1238] +05/25 06:58:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:00:18 INFO: [Worker 0] Worker 0 house 1299 episode 0 object objadowel_28700f9228684952a789329ef1475cdf_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:00:21 INFO: [Worker 0] Batching and saving trajectory data for house_1299: 1 episodes [pipeline.py: 233] +05/25 07:00:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:00:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:00:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1299 [save_utils.py: 703] +05/25 07:00:24 INFO: [Worker 0] Successfully saved trajectory data for house_1299 in 2.64s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/25 07:00:24 WARNING: [Worker 0] No trajectory data to save for house_1299 [pipeline.py: 229] +05/25 07:00:24 INFO: [Worker 0] Worker 0 completed house 1299: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:00:24 INFO: [Worker 0] Worker 0 starting house 1326 (index 17/121) [pipeline.py: 473] +05/25 07:00:24 INFO: [Worker 0] Loaded 1 episodes for house 1326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:00:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:00:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1326_ceiling.xml [task_sampler.py: 797] +05/25 07:00:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1326, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:00:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:00:31 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 07:00:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:00:31 INFO: [Worker 0] Sampled task 'Pick up the gray pyramid die with turquoise numbers' [task_sampler.py: 1136] +05/25 07:00:31 INFO: [Worker 0] Worker 0 house 1326 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:00:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:00:31 WARNING: [Worker 0] Could not find object objasoilslab_6b3895a77ccc4b92837e992aba5410bd_1_0_6 in scene [object_manager.py: 1238] +05/25 07:00:31 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene [object_manager.py: 1238] +05/25 07:00:31 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene [object_manager.py: 1238] +05/25 07:00:31 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_7 in scene [object_manager.py: 1238] +05/25 07:00:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:02:49 INFO: [Worker 0] Worker 0 house 1326 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 07:02:53 INFO: [Worker 0] Batching and saving trajectory data for house_1326: 1 episodes [pipeline.py: 233] +05/25 07:02:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:02:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:02:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1326 [save_utils.py: 703] +05/25 07:02:57 INFO: [Worker 0] Successfully saved trajectory data for house_1326 in 3.16s (batch: 3.06s, save: 0.10s) [pipeline.py: 280] +05/25 07:02:57 WARNING: [Worker 0] No trajectory data to save for house_1326 [pipeline.py: 229] +05/25 07:02:57 INFO: [Worker 0] Worker 0 completed house 1326: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:02:57 INFO: [Worker 0] Worker 0 starting house 1355 (index 18/121) [pipeline.py: 473] +05/25 07:02:57 INFO: [Worker 0] Loaded 1 episodes for house 1355 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:02:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:03:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1355_ceiling.xml [task_sampler.py: 797] +05/25 07:03:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1355, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:03:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:03:03 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/25 07:03:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:03:03 INFO: [Worker 0] Sampled task 'Pick up the green nameplate' [task_sampler.py: 1136] +05/25 07:03:03 INFO: [Worker 0] Worker 0 house 1355 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:03:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:03:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:03:36 INFO: [Worker 0] Worker 0 house 1355 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 07:03:40 INFO: [Worker 0] Batching and saving trajectory data for house_1355: 1 episodes [pipeline.py: 233] +05/25 07:03:40 INFO: [Worker 0] Preparing episode data: 93 timesteps [save_utils.py: 284] +05/25 07:03:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:03:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1355 [save_utils.py: 703] +05/25 07:03:43 INFO: [Worker 0] Successfully saved trajectory data for house_1355 in 2.97s (batch: 2.91s, save: 0.06s) [pipeline.py: 280] +05/25 07:03:43 WARNING: [Worker 0] No trajectory data to save for house_1355 [pipeline.py: 229] +05/25 07:03:43 INFO: [Worker 0] Worker 0 completed house 1355: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:03:43 INFO: [Worker 0] Worker 0 starting house 1381 (index 19/121) [pipeline.py: 473] +05/25 07:03:43 INFO: [Worker 0] Loaded 1 episodes for house 1381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:03:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:03:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1381_ceiling.xml [task_sampler.py: 797] +05/25 07:03:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1381, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:03:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:03:50 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 07:03:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:03:50 INFO: [Worker 0] Sampled task 'Pick up the futuristic green spacecraft with angular wings' [task_sampler.py: 1136] +05/25 07:03:50 INFO: [Worker 0] Worker 0 house 1381 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:03:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:03:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:06:25 INFO: [Worker 0] Worker 0 house 1381 episode 0 object objatoyspacecraft_c5979a74b1534661a4fb0412e1d11bdb_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:06:28 INFO: [Worker 0] Batching and saving trajectory data for house_1381: 1 episodes [pipeline.py: 233] +05/25 07:06:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:06:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:06:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1381 [save_utils.py: 703] +05/25 07:06:31 INFO: [Worker 0] Successfully saved trajectory data for house_1381 in 2.67s (batch: 2.57s, save: 0.10s) [pipeline.py: 280] +05/25 07:06:32 WARNING: [Worker 0] No trajectory data to save for house_1381 [pipeline.py: 229] +05/25 07:06:32 INFO: [Worker 0] Worker 0 completed house 1381: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:06:32 INFO: [Worker 0] Worker 0 starting house 1408 (index 20/121) [pipeline.py: 473] +05/25 07:06:32 INFO: [Worker 0] Loaded 2 episodes for house 1408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:06:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:06:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1408_ceiling.xml [task_sampler.py: 797] +05/25 07:06:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1408, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:06:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:06:35 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 07:06:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:06:35 INFO: [Worker 0] Sampled task 'Pick up the blue birthday card with fox and rabbit' [task_sampler.py: 1136] +05/25 07:06:35 INFO: [Worker 0] Worker 0 house 1408 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 07:06:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:06:35 WARNING: [Worker 0] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene [object_manager.py: 1238] +05/25 07:06:35 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene [object_manager.py: 1238] +05/25 07:06:35 WARNING: [Worker 0] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene [object_manager.py: 1238] +05/25 07:06:35 WARNING: [Worker 0] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene [object_manager.py: 1238] +05/25 07:06:56 INFO: [Worker 0] Worker 0 house 1408 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 07:07:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:07:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1408_ceiling.xml [task_sampler.py: 797] +05/25 07:07:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1408, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:07:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:07:03 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 07:07:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:07:03 INFO: [Worker 0] Sampled task 'Pick up the yellow pencil' [task_sampler.py: 1136] +05/25 07:07:03 INFO: [Worker 0] Worker 0 house 1408 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 07:07:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:07:03 WARNING: [Worker 0] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene [object_manager.py: 1238] +05/25 07:07:03 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene [object_manager.py: 1238] +05/25 07:07:03 WARNING: [Worker 0] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene [object_manager.py: 1238] +05/25 07:07:03 WARNING: [Worker 0] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene [object_manager.py: 1238] +05/25 07:07:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:08:59 INFO: [Worker 0] Worker 0 house 1408 episode 1 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:09:03 INFO: [Worker 0] Batching and saving trajectory data for house_1408: 2 episodes [pipeline.py: 233] +05/25 07:09:03 INFO: [Worker 0] Preparing episode data: 83 timesteps [save_utils.py: 284] +05/25 07:09:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:09:09 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1408 [save_utils.py: 703] +05/25 07:09:09 INFO: [Worker 0] Successfully saved trajectory data for house_1408 in 5.50s (batch: 5.35s, save: 0.15s) [pipeline.py: 280] +05/25 07:09:09 WARNING: [Worker 0] No trajectory data to save for house_1408 [pipeline.py: 229] +05/25 07:09:09 INFO: [Worker 0] Worker 0 completed house 1408: 1/2 successful episodes [pipeline.py: 1243] +05/25 07:09:09 INFO: [Worker 0] Worker 0 starting house 1420 (index 21/121) [pipeline.py: 473] +05/25 07:09:09 INFO: [Worker 0] Loaded 1 episodes for house 1420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:09:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:09:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1420_ceiling.xml [task_sampler.py: 797] +05/25 07:09:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1420, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:09:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:09:16 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 07:09:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:09:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:09:16 INFO: [Worker 0] Sampled task 'Pick up the metal chisel with handle' [task_sampler.py: 1136] +05/25 07:09:16 INFO: [Worker 0] Worker 0 house 1420 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:09:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:09:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:09:32 INFO: [Worker 0] Worker 0 house 1420 episode 0 object objachisel_8684f79ad879447cbd64770f6e5faf14_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 07:09:35 INFO: [Worker 0] Batching and saving trajectory data for house_1420: 1 episodes [pipeline.py: 233] +05/25 07:09:35 INFO: [Worker 0] Preparing episode data: 49 timesteps [save_utils.py: 284] +05/25 07:09:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:09:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1420 [save_utils.py: 703] +05/25 07:09:38 INFO: [Worker 0] Successfully saved trajectory data for house_1420 in 2.52s (batch: 2.48s, save: 0.04s) [pipeline.py: 280] +05/25 07:09:39 WARNING: [Worker 0] No trajectory data to save for house_1420 [pipeline.py: 229] +05/25 07:09:39 INFO: [Worker 0] Worker 0 completed house 1420: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:09:39 INFO: [Worker 0] Worker 0 starting house 1498 (index 22/121) [pipeline.py: 473] +05/25 07:09:39 INFO: [Worker 0] Loaded 1 episodes for house 1498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:09:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:09:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1498_ceiling.xml [task_sampler.py: 797] +05/25 07:09:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1498, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:09:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:09:42 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 07:09:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:09:42 INFO: [Worker 0] Sampled task 'Pick up the fruit' [task_sampler.py: 1136] +05/25 07:09:42 INFO: [Worker 0] Worker 0 house 1498 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:09:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:09:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:11:29 INFO: [Worker 0] Worker 0 house 1498 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:11:32 INFO: [Worker 0] Batching and saving trajectory data for house_1498: 1 episodes [pipeline.py: 233] +05/25 07:11:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:11:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:11:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1498 [save_utils.py: 703] +05/25 07:11:35 INFO: [Worker 0] Successfully saved trajectory data for house_1498 in 2.70s (batch: 2.58s, save: 0.12s) [pipeline.py: 280] +05/25 07:11:36 WARNING: [Worker 0] No trajectory data to save for house_1498 [pipeline.py: 229] +05/25 07:11:36 INFO: [Worker 0] Worker 0 completed house 1498: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:11:36 INFO: [Worker 0] Worker 0 starting house 1555 (index 23/121) [pipeline.py: 473] +05/25 07:11:36 INFO: [Worker 0] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:11:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:11:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1555_ceiling.xml [task_sampler.py: 797] +05/25 07:11:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1555, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:11:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:11:41 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 07:11:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:11:41 INFO: [Worker 0] Sampled task 'Pick up the digital camera' [task_sampler.py: 1136] +05/25 07:11:41 INFO: [Worker 0] Worker 0 house 1555 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:11:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:11:42 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene [object_manager.py: 1238] +05/25 07:11:42 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 07:11:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:13:34 INFO: [Worker 0] Worker 0 house 1555 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 07:13:38 INFO: [Worker 0] Batching and saving trajectory data for house_1555: 1 episodes [pipeline.py: 233] +05/25 07:13:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:13:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:13:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1555 [save_utils.py: 703] +05/25 07:13:41 INFO: [Worker 0] Successfully saved trajectory data for house_1555 in 2.63s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/25 07:13:42 WARNING: [Worker 0] No trajectory data to save for house_1555 [pipeline.py: 229] +05/25 07:13:42 INFO: [Worker 0] Worker 0 completed house 1555: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:13:42 INFO: [Worker 0] Worker 0 starting house 1604 (index 24/121) [pipeline.py: 473] +05/25 07:13:42 INFO: [Worker 0] Loaded 1 episodes for house 1604 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:13:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:13:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1604_ceiling.xml [task_sampler.py: 797] +05/25 07:13:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1604, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:13:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:13:48 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/25 07:13:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:13:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:13:48 INFO: [Worker 0] Sampled task 'Pick up the red robotic hand' [task_sampler.py: 1136] +05/25 07:13:48 INFO: [Worker 0] Worker 0 house 1604 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:13:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:13:48 WARNING: [Worker 0] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_2_0_4 in scene [object_manager.py: 1238] +05/25 07:13:48 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_4 in scene [object_manager.py: 1238] +05/25 07:13:48 WARNING: [Worker 0] Could not find object objaspaceshipmodel_6a801458b065464ba743f2374846e192_1_0_6 in scene [object_manager.py: 1238] +05/25 07:13:48 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_3_0_6 in scene [object_manager.py: 1238] +05/25 07:14:14 INFO: [Worker 0] Worker 0 house 1604 episode 0 object objarobotichand_41386ca558bd4bd0a8c72e3ddc3720ba_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 07:14:17 INFO: [Worker 0] Batching and saving trajectory data for house_1604: 1 episodes [pipeline.py: 233] +05/25 07:14:17 INFO: [Worker 0] Preparing episode data: 95 timesteps [save_utils.py: 284] +05/25 07:14:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:14:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1604 [save_utils.py: 703] +05/25 07:14:19 INFO: [Worker 0] Successfully saved trajectory data for house_1604 in 2.43s (batch: 2.39s, save: 0.04s) [pipeline.py: 280] +05/25 07:14:20 WARNING: [Worker 0] No trajectory data to save for house_1604 [pipeline.py: 229] +05/25 07:14:20 INFO: [Worker 0] Worker 0 completed house 1604: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:14:20 INFO: [Worker 0] Worker 0 starting house 1651 (index 25/121) [pipeline.py: 473] +05/25 07:14:20 INFO: [Worker 0] Loaded 1 episodes for house 1651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:14:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:14:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1651_ceiling.xml [task_sampler.py: 797] +05/25 07:14:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1651, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:14:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:14:22 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/25 07:14:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:14:22 INFO: [Worker 0] Sampled task 'Pick up the small oval brown potato' [task_sampler.py: 1136] +05/25 07:14:22 INFO: [Worker 0] Worker 0 house 1651 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:14:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:14:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:16:02 INFO: [Worker 0] Worker 0 house 1651 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:16:05 INFO: [Worker 0] Batching and saving trajectory data for house_1651: 1 episodes [pipeline.py: 233] +05/25 07:16:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:16:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:16:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1651 [save_utils.py: 703] +05/25 07:16:08 INFO: [Worker 0] Successfully saved trajectory data for house_1651 in 2.76s (batch: 2.66s, save: 0.11s) [pipeline.py: 280] +05/25 07:16:09 WARNING: [Worker 0] No trajectory data to save for house_1651 [pipeline.py: 229] +05/25 07:16:09 INFO: [Worker 0] Worker 0 completed house 1651: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:16:09 INFO: [Worker 0] Worker 0 starting house 1686 (index 26/121) [pipeline.py: 473] +05/25 07:16:09 INFO: [Worker 0] Loaded 1 episodes for house 1686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:16:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:16:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1686_ceiling.xml [task_sampler.py: 797] +05/25 07:16:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1686, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:16:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:16:12 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 07:16:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:16:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:16:12 INFO: [Worker 0] Sampled task 'Pick up the red rectangular novelty license card' [task_sampler.py: 1136] +05/25 07:16:12 INFO: [Worker 0] Worker 0 house 1686 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:16:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:16:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:16:24 INFO: [Worker 0] Worker 0 house 1686 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 07:16:28 INFO: [Worker 0] Batching and saving trajectory data for house_1686: 1 episodes [pipeline.py: 233] +05/25 07:16:28 INFO: [Worker 0] Preparing episode data: 49 timesteps [save_utils.py: 284] +05/25 07:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:16:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1686 [save_utils.py: 703] +05/25 07:16:30 INFO: [Worker 0] Successfully saved trajectory data for house_1686 in 2.46s (batch: 2.41s, save: 0.04s) [pipeline.py: 280] +05/25 07:16:31 WARNING: [Worker 0] No trajectory data to save for house_1686 [pipeline.py: 229] +05/25 07:16:31 INFO: [Worker 0] Worker 0 completed house 1686: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:16:31 INFO: [Worker 0] Worker 0 starting house 1722 (index 27/121) [pipeline.py: 473] +05/25 07:16:31 INFO: [Worker 0] Loaded 1 episodes for house 1722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:16:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:16:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1722_ceiling.xml [task_sampler.py: 797] +05/25 07:16:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1722, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:16:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:16:35 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 07:16:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:16:35 INFO: [Worker 0] Sampled task 'Pick up the wooden grip metallic blaster pistol' [task_sampler.py: 1136] +05/25 07:16:35 INFO: [Worker 0] Worker 0 house 1722 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:16:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:16:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:18:17 INFO: [Worker 0] Worker 0 house 1722 episode 0 object objareplicaweapon_d5499e5cab3941d0aab137d7f7152534_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:18:21 INFO: [Worker 0] Batching and saving trajectory data for house_1722: 1 episodes [pipeline.py: 233] +05/25 07:18:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:18:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:18:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1722 [save_utils.py: 703] +05/25 07:18:23 INFO: [Worker 0] Successfully saved trajectory data for house_1722 in 2.80s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/25 07:18:24 WARNING: [Worker 0] No trajectory data to save for house_1722 [pipeline.py: 229] +05/25 07:18:24 INFO: [Worker 0] Worker 0 completed house 1722: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:18:24 INFO: [Worker 0] Worker 0 starting house 1763 (index 28/121) [pipeline.py: 473] +05/25 07:18:24 INFO: [Worker 0] Loaded 1 episodes for house 1763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:18:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:18:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1763_ceiling.xml [task_sampler.py: 797] +05/25 07:18:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1763, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:18:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:18:27 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/25 07:18:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:18:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:18:27 INFO: [Worker 0] Sampled task 'Pick up the wooden bookmark with butterfly' [task_sampler.py: 1136] +05/25 07:18:27 INFO: [Worker 0] Worker 0 house 1763 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:18:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:20:12 INFO: [Worker 0] Worker 0 house 1763 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:20:15 INFO: [Worker 0] Batching and saving trajectory data for house_1763: 1 episodes [pipeline.py: 233] +05/25 07:20:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:20:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:20:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1763 [save_utils.py: 703] +05/25 07:20:18 INFO: [Worker 0] Successfully saved trajectory data for house_1763 in 2.76s (batch: 2.63s, save: 0.13s) [pipeline.py: 280] +05/25 07:20:19 WARNING: [Worker 0] No trajectory data to save for house_1763 [pipeline.py: 229] +05/25 07:20:19 INFO: [Worker 0] Worker 0 completed house 1763: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:20:19 INFO: [Worker 0] Worker 0 starting house 1810 (index 29/121) [pipeline.py: 473] +05/25 07:20:19 INFO: [Worker 0] Loaded 1 episodes for house 1810 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:20:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:20:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1810_ceiling.xml [task_sampler.py: 797] +05/25 07:20:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1810, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:20:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:20:21 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/25 07:20:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:20:21 INFO: [Worker 0] Sampled task 'Pick up the white block with red coral' [task_sampler.py: 1136] +05/25 07:20:21 INFO: [Worker 0] Worker 0 house 1810 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:20:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:22:15 INFO: [Worker 0] Worker 0 house 1810 episode 0 object objafooditem_7d263bf310314339a199810ce968226e_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:22:19 INFO: [Worker 0] Batching and saving trajectory data for house_1810: 1 episodes [pipeline.py: 233] +05/25 07:22:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:22:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:22:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1810 [save_utils.py: 703] +05/25 07:22:22 INFO: [Worker 0] Successfully saved trajectory data for house_1810 in 2.85s (batch: 2.75s, save: 0.10s) [pipeline.py: 280] +05/25 07:22:22 WARNING: [Worker 0] No trajectory data to save for house_1810 [pipeline.py: 229] +05/25 07:22:22 INFO: [Worker 0] Worker 0 completed house 1810: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:22:22 INFO: [Worker 0] Worker 0 starting house 1872 (index 30/121) [pipeline.py: 473] +05/25 07:22:22 INFO: [Worker 0] Loaded 1 episodes for house 1872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:22:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:22:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1872_ceiling.xml [task_sampler.py: 797] +05/25 07:22:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1872, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:22:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:22:32 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/25 07:22:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:22:32 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake' [task_sampler.py: 1136] +05/25 07:22:32 INFO: [Worker 0] Worker 0 house 1872 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:22:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:22:32 WARNING: [Worker 0] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_4 in scene [object_manager.py: 1238] +05/25 07:22:32 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene [object_manager.py: 1238] +05/25 07:22:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:25:20 INFO: [Worker 0] Worker 0 house 1872 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_2_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:25:23 INFO: [Worker 0] Batching and saving trajectory data for house_1872: 1 episodes [pipeline.py: 233] +05/25 07:25:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:25:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:25:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1872 [save_utils.py: 703] +05/25 07:25:26 INFO: [Worker 0] Successfully saved trajectory data for house_1872 in 2.74s (batch: 2.65s, save: 0.10s) [pipeline.py: 280] +05/25 07:25:27 WARNING: [Worker 0] No trajectory data to save for house_1872 [pipeline.py: 229] +05/25 07:25:27 INFO: [Worker 0] Worker 0 completed house 1872: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:25:27 INFO: [Worker 0] Worker 0 starting house 1907 (index 31/121) [pipeline.py: 473] +05/25 07:25:27 INFO: [Worker 0] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:25:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:25:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1907_ceiling.xml [task_sampler.py: 797] +05/25 07:25:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1907, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:25:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:25:35 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects [json_eval_task_sampler.py: 686] +05/25 07:25:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:25:35 INFO: [Worker 0] Sampled task 'Pick up the rustic crucifix' [task_sampler.py: 1136] +05/25 07:25:35 INFO: [Worker 0] Worker 0 house 1907 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:25:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:28:00 INFO: [Worker 0] Worker 0 house 1907 episode 0 object objacrucifix_934ff28b55a1448d98046be1d72411f3_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:28:04 INFO: [Worker 0] Batching and saving trajectory data for house_1907: 1 episodes [pipeline.py: 233] +05/25 07:28:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:28:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:28:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1907 [save_utils.py: 703] +05/25 07:28:06 INFO: [Worker 0] Successfully saved trajectory data for house_1907 in 2.67s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/25 07:28:07 WARNING: [Worker 0] No trajectory data to save for house_1907 [pipeline.py: 229] +05/25 07:28:07 INFO: [Worker 0] Worker 0 completed house 1907: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:28:07 INFO: [Worker 0] Worker 0 starting house 1937 (index 32/121) [pipeline.py: 473] +05/25 07:28:07 INFO: [Worker 0] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:28:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:28:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1937_ceiling.xml [task_sampler.py: 797] +05/25 07:28:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1937, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:28:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:28:11 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 07:28:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:28:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:28:11 INFO: [Worker 0] Sampled task 'Pick up the golden chain' [task_sampler.py: 1136] +05/25 07:28:11 INFO: [Worker 0] Worker 0 house 1937 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:28:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:28:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:30:16 INFO: [Worker 0] Worker 0 house 1937 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:30:20 INFO: [Worker 0] Batching and saving trajectory data for house_1937: 1 episodes [pipeline.py: 233] +05/25 07:30:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:30:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:30:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1937 [save_utils.py: 703] +05/25 07:30:23 INFO: [Worker 0] Successfully saved trajectory data for house_1937 in 2.90s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/25 07:30:23 WARNING: [Worker 0] No trajectory data to save for house_1937 [pipeline.py: 229] +05/25 07:30:23 INFO: [Worker 0] Worker 0 completed house 1937: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:30:23 INFO: [Worker 0] Worker 0 starting house 1955 (index 33/121) [pipeline.py: 473] +05/25 07:30:23 INFO: [Worker 0] Loaded 1 episodes for house 1955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:30:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:30:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1955_ceiling.xml [task_sampler.py: 797] +05/25 07:30:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1955, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:30:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:30:30 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 07:30:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:30:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:30:30 INFO: [Worker 0] Sampled task 'Pick up the white lighthouse with blue roof' [task_sampler.py: 1136] +05/25 07:30:30 INFO: [Worker 0] Worker 0 house 1955 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:30:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:32:30 INFO: [Worker 0] Worker 0 house 1955 episode 0 object objalighthouse_8dcb5eb233064c33932b4d36bc69087f_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:32:34 INFO: [Worker 0] Batching and saving trajectory data for house_1955: 1 episodes [pipeline.py: 233] +05/25 07:32:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:32:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:32:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1955 [save_utils.py: 703] +05/25 07:32:36 INFO: [Worker 0] Successfully saved trajectory data for house_1955 in 2.71s (batch: 2.59s, save: 0.12s) [pipeline.py: 280] +05/25 07:32:37 WARNING: [Worker 0] No trajectory data to save for house_1955 [pipeline.py: 229] +05/25 07:32:37 INFO: [Worker 0] Worker 0 completed house 1955: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:32:37 INFO: [Worker 0] Worker 0 starting house 1993 (index 34/121) [pipeline.py: 473] +05/25 07:32:37 INFO: [Worker 0] Loaded 1 episodes for house 1993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:32:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:32:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1993_ceiling.xml [task_sampler.py: 797] +05/25 07:32:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:32:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:32:41 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 07:32:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:32:41 INFO: [Worker 0] Sampled task 'Pick up the stone platform' [task_sampler.py: 1136] +05/25 07:32:41 INFO: [Worker 0] Worker 0 house 1993 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:32:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:32:56 INFO: [Worker 0] Worker 0 house 1993 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 completed with success=True [pipeline.py: 1114] +05/25 07:32:59 INFO: [Worker 0] Batching and saving trajectory data for house_1993: 1 episodes [pipeline.py: 233] +05/25 07:32:59 INFO: [Worker 0] Preparing episode data: 51 timesteps [save_utils.py: 284] +05/25 07:33:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:33:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1993 [save_utils.py: 703] +05/25 07:33:02 INFO: [Worker 0] Successfully saved trajectory data for house_1993 in 2.42s (batch: 2.39s, save: 0.04s) [pipeline.py: 280] +05/25 07:33:02 WARNING: [Worker 0] No trajectory data to save for house_1993 [pipeline.py: 229] +05/25 07:33:02 INFO: [Worker 0] Worker 0 completed house 1993: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:33:02 INFO: [Worker 0] Worker 0 starting house 2026 (index 35/121) [pipeline.py: 473] +05/25 07:33:02 INFO: [Worker 0] Loaded 1 episodes for house 2026 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:33:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:33:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2026_ceiling.xml [task_sampler.py: 797] +05/25 07:33:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2026, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:33:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:33:07 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 07:33:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:33:07 INFO: [Worker 0] Sampled task 'Pick up the bridge' [task_sampler.py: 1136] +05/25 07:33:07 INFO: [Worker 0] Worker 0 house 2026 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:33:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:33:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:33:27 INFO: [Worker 0] Worker 0 house 2026 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 07:33:30 INFO: [Worker 0] Batching and saving trajectory data for house_2026: 1 episodes [pipeline.py: 233] +05/25 07:33:30 INFO: [Worker 0] Preparing episode data: 69 timesteps [save_utils.py: 284] +05/25 07:33:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:33:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2026 [save_utils.py: 703] +05/25 07:33:33 INFO: [Worker 0] Successfully saved trajectory data for house_2026 in 2.45s (batch: 2.39s, save: 0.06s) [pipeline.py: 280] +05/25 07:33:33 WARNING: [Worker 0] No trajectory data to save for house_2026 [pipeline.py: 229] +05/25 07:33:33 INFO: [Worker 0] Worker 0 completed house 2026: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:33:33 INFO: [Worker 0] Worker 0 starting house 2059 (index 36/121) [pipeline.py: 473] +05/25 07:33:33 INFO: [Worker 0] Loaded 1 episodes for house 2059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:33:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:33:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2059_ceiling.xml [task_sampler.py: 797] +05/25 07:33:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2059, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:33:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:33:40 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 07:33:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:33:40 INFO: [Worker 0] Sampled task 'Pick up the round-bottom flask' [task_sampler.py: 1136] +05/25 07:33:40 INFO: [Worker 0] Worker 0 house 2059 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:33:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:33:40 WARNING: [Worker 0] Could not find object objaheadband_935c30c7839142ee804775ac6b01521b_1_0_7 in scene [object_manager.py: 1238] +05/25 07:33:40 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_7 in scene [object_manager.py: 1238] +05/25 07:33:40 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_7 in scene [object_manager.py: 1238] +05/25 07:34:00 INFO: [Worker 0] Worker 0 house 2059 episode 0 object objaflask_a9cbfdae0f6d4b29942b2afdfe44bc65_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 07:34:04 INFO: [Worker 0] Batching and saving trajectory data for house_2059: 1 episodes [pipeline.py: 233] +05/25 07:34:04 INFO: [Worker 0] Preparing episode data: 68 timesteps [save_utils.py: 284] +05/25 07:34:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:34:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2059 [save_utils.py: 703] +05/25 07:34:06 INFO: [Worker 0] Successfully saved trajectory data for house_2059 in 2.39s (batch: 2.36s, save: 0.04s) [pipeline.py: 280] +05/25 07:34:07 WARNING: [Worker 0] No trajectory data to save for house_2059 [pipeline.py: 229] +05/25 07:34:07 INFO: [Worker 0] Worker 0 completed house 2059: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:34:07 INFO: [Worker 0] Worker 0 starting house 2101 (index 37/121) [pipeline.py: 473] +05/25 07:34:07 INFO: [Worker 0] Loaded 1 episodes for house 2101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:34:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:34:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2101_ceiling.xml [task_sampler.py: 797] +05/25 07:34:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2101, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:34:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:34:10 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 07:34:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:34:10 INFO: [Worker 0] Sampled task 'Pick up the branch with berries' [task_sampler.py: 1136] +05/25 07:34:10 INFO: [Worker 0] Worker 0 house 2101 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:34:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:34:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:35:56 INFO: [Worker 0] Worker 0 house 2101 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:36:00 INFO: [Worker 0] Batching and saving trajectory data for house_2101: 1 episodes [pipeline.py: 233] +05/25 07:36:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:36:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:36:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2101 [save_utils.py: 703] +05/25 07:36:02 INFO: [Worker 0] Successfully saved trajectory data for house_2101 in 2.60s (batch: 2.51s, save: 0.10s) [pipeline.py: 280] +05/25 07:36:03 WARNING: [Worker 0] No trajectory data to save for house_2101 [pipeline.py: 229] +05/25 07:36:03 INFO: [Worker 0] Worker 0 completed house 2101: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:36:03 INFO: [Worker 0] Worker 0 starting house 2135 (index 38/121) [pipeline.py: 473] +05/25 07:36:03 INFO: [Worker 0] Loaded 1 episodes for house 2135 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:36:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:36:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2135_ceiling.xml [task_sampler.py: 797] +05/25 07:36:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2135, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:36:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:36:05 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/25 07:36:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:36:05 INFO: [Worker 0] Sampled task 'Pick up the round artifact with golden face' [task_sampler.py: 1136] +05/25 07:36:05 INFO: [Worker 0] Worker 0 house 2135 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:36:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:36:05 WARNING: [Worker 0] Could not find object objashoe_24e1bcf3515547eeac102c9874a1a29b_1_0_3 in scene [object_manager.py: 1238] +05/25 07:36:05 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene [object_manager.py: 1238] +05/25 07:37:38 INFO: [Worker 0] Worker 0 house 2135 episode 0 object objadecorativeartifact_5e2d5028e91d4e44bf9effdba17c79f9_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:37:41 INFO: [Worker 0] Batching and saving trajectory data for house_2135: 1 episodes [pipeline.py: 233] +05/25 07:37:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:37:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:37:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2135 [save_utils.py: 703] +05/25 07:37:44 INFO: [Worker 0] Successfully saved trajectory data for house_2135 in 2.63s (batch: 2.52s, save: 0.12s) [pipeline.py: 280] +05/25 07:37:45 WARNING: [Worker 0] No trajectory data to save for house_2135 [pipeline.py: 229] +05/25 07:37:45 INFO: [Worker 0] Worker 0 completed house 2135: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:37:45 INFO: [Worker 0] Worker 0 starting house 2157 (index 39/121) [pipeline.py: 473] +05/25 07:37:45 INFO: [Worker 0] Loaded 2 episodes for house 2157 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:37:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:37:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2157_ceiling.xml [task_sampler.py: 797] +05/25 07:37:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2157, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:37:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:37:52 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 07:37:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:37:52 INFO: [Worker 0] Sampled task 'Pick up the blue swat box' [task_sampler.py: 1136] +05/25 07:37:52 INFO: [Worker 0] Worker 0 house 2157 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 07:37:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:37:52 WARNING: [Worker 0] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene [object_manager.py: 1238] +05/25 07:37:52 WARNING: [Worker 0] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene [object_manager.py: 1238] +05/25 07:37:52 WARNING: [Worker 0] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene [object_manager.py: 1238] +05/25 07:40:10 INFO: [Worker 0] Worker 0 house 2157 episode 0 object objavideogamebox_c18bf9d6db5044ceb45089c0345536d2_2_0_8 completed with success=False [pipeline.py: 1114] +05/25 07:40:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:40:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2157_ceiling.xml [task_sampler.py: 797] +05/25 07:40:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2157, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:40:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:40:22 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 07:40:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:40:22 INFO: [Worker 0] Sampled task 'Pick up the black honeycomb wave structure with hinge' [task_sampler.py: 1136] +05/25 07:40:22 INFO: [Worker 0] Worker 0 house 2157 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 07:40:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:40:22 WARNING: [Worker 0] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene [object_manager.py: 1238] +05/25 07:40:22 WARNING: [Worker 0] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene [object_manager.py: 1238] +05/25 07:40:22 WARNING: [Worker 0] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene [object_manager.py: 1238] +05/25 07:42:51 INFO: [Worker 0] Worker 0 house 2157 episode 1 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:42:55 INFO: [Worker 0] Batching and saving trajectory data for house_2157: 2 episodes [pipeline.py: 233] +05/25 07:42:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:42:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:43:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:43:00 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2157 [save_utils.py: 703] +05/25 07:43:00 INFO: [Worker 0] Successfully saved trajectory data for house_2157 in 5.60s (batch: 5.40s, save: 0.20s) [pipeline.py: 280] +05/25 07:43:01 WARNING: [Worker 0] No trajectory data to save for house_2157 [pipeline.py: 229] +05/25 07:43:01 INFO: [Worker 0] Worker 0 completed house 2157: 0/2 successful episodes [pipeline.py: 1243] +05/25 07:43:01 INFO: [Worker 0] Worker 0 starting house 2191 (index 40/121) [pipeline.py: 473] +05/25 07:43:01 INFO: [Worker 0] Loaded 1 episodes for house 2191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:43:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:43:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2191_ceiling.xml [task_sampler.py: 797] +05/25 07:43:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2191, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:43:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:43:03 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/25 07:43:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:43:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:43:04 INFO: [Worker 0] Sampled task 'Pick up the red bowtie' [task_sampler.py: 1136] +05/25 07:43:04 INFO: [Worker 0] Worker 0 house 2191 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:43:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:43:04 WARNING: [Worker 0] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene [object_manager.py: 1238] +05/25 07:43:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:43:18 INFO: [Worker 0] Worker 0 house 2191 episode 0 object objabowtie_aa43cf45ba7f42ab8b03a896cd436d5f_1_0_3 completed with success=True [pipeline.py: 1114] +05/25 07:43:22 INFO: [Worker 0] Batching and saving trajectory data for house_2191: 1 episodes [pipeline.py: 233] +05/25 07:43:22 INFO: [Worker 0] Preparing episode data: 64 timesteps [save_utils.py: 284] +05/25 07:43:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:43:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2191 [save_utils.py: 703] +05/25 07:43:24 INFO: [Worker 0] Successfully saved trajectory data for house_2191 in 2.38s (batch: 2.34s, save: 0.04s) [pipeline.py: 280] +05/25 07:43:25 WARNING: [Worker 0] No trajectory data to save for house_2191 [pipeline.py: 229] +05/25 07:43:25 INFO: [Worker 0] Worker 0 completed house 2191: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:43:25 INFO: [Worker 0] Worker 0 starting house 2218 (index 41/121) [pipeline.py: 473] +05/25 07:43:25 INFO: [Worker 0] Loaded 1 episodes for house 2218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:43:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:43:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2218_ceiling.xml [task_sampler.py: 797] +05/25 07:43:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2218, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:43:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:43:31 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/25 07:43:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:43:32 INFO: [Worker 0] Sampled task 'Pick up the ten of clubs card' [task_sampler.py: 1136] +05/25 07:43:32 INFO: [Worker 0] Worker 0 house 2218 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:43:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:45:43 INFO: [Worker 0] Worker 0 house 2218 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:45:47 INFO: [Worker 0] Batching and saving trajectory data for house_2218: 1 episodes [pipeline.py: 233] +05/25 07:45:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:45:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:45:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2218 [save_utils.py: 703] +05/25 07:45:50 INFO: [Worker 0] Successfully saved trajectory data for house_2218 in 2.92s (batch: 2.81s, save: 0.11s) [pipeline.py: 280] +05/25 07:45:50 WARNING: [Worker 0] No trajectory data to save for house_2218 [pipeline.py: 229] +05/25 07:45:50 INFO: [Worker 0] Worker 0 completed house 2218: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:45:50 INFO: [Worker 0] Worker 0 starting house 2247 (index 42/121) [pipeline.py: 473] +05/25 07:45:50 INFO: [Worker 0] Loaded 1 episodes for house 2247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:45:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:45:52 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 07:45:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2247_ceiling.xml [task_sampler.py: 797] +05/25 07:45:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2247, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:45:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:45:55 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 07:45:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:45:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:45:55 INFO: [Worker 0] Sampled task 'Pick up the weathered rectangular stone block with grooves' [task_sampler.py: 1136] +05/25 07:45:55 INFO: [Worker 0] Worker 0 house 2247 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:45:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:45:56 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 07:46:26 INFO: [Worker 0] Worker 0 house 2247 episode 0 object objastoneblock_3196930e59c54325a11305d8d4d378d7_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 07:46:30 INFO: [Worker 0] Batching and saving trajectory data for house_2247: 1 episodes [pipeline.py: 233] +05/25 07:46:30 INFO: [Worker 0] Preparing episode data: 105 timesteps [save_utils.py: 284] +05/25 07:46:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:46:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2247 [save_utils.py: 703] +05/25 07:46:32 INFO: [Worker 0] Successfully saved trajectory data for house_2247 in 2.35s (batch: 2.30s, save: 0.04s) [pipeline.py: 280] +05/25 07:46:33 WARNING: [Worker 0] No trajectory data to save for house_2247 [pipeline.py: 229] +05/25 07:46:33 INFO: [Worker 0] Worker 0 completed house 2247: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:46:33 INFO: [Worker 0] Worker 0 starting house 2298 (index 43/121) [pipeline.py: 473] +05/25 07:46:33 INFO: [Worker 0] Loaded 1 episodes for house 2298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:46:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:46:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2298_ceiling.xml [task_sampler.py: 797] +05/25 07:46:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2298, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:46:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:46:35 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/25 07:46:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:46:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:46:35 INFO: [Worker 0] Sampled task 'Pick up the light brown cylindrical fabric spool' [task_sampler.py: 1136] +05/25 07:46:35 INFO: [Worker 0] Worker 0 house 2298 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:46:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:46:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:48:42 INFO: [Worker 0] Worker 0 house 2298 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:48:46 INFO: [Worker 0] Batching and saving trajectory data for house_2298: 1 episodes [pipeline.py: 233] +05/25 07:48:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:48:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2298 [save_utils.py: 703] +05/25 07:48:49 INFO: [Worker 0] Successfully saved trajectory data for house_2298 in 2.95s (batch: 2.84s, save: 0.12s) [pipeline.py: 280] +05/25 07:48:50 WARNING: [Worker 0] No trajectory data to save for house_2298 [pipeline.py: 229] +05/25 07:48:50 INFO: [Worker 0] Worker 0 completed house 2298: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:48:50 INFO: [Worker 0] Worker 0 starting house 2351 (index 44/121) [pipeline.py: 473] +05/25 07:48:50 INFO: [Worker 0] Loaded 1 episodes for house 2351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:48:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:48:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2351_ceiling.xml [task_sampler.py: 797] +05/25 07:48:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2351, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:48:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:48:54 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 07:48:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:48:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:48:54 INFO: [Worker 0] Sampled task 'Pick up the tall cream candle in dark holder' [task_sampler.py: 1136] +05/25 07:48:54 INFO: [Worker 0] Worker 0 house 2351 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:48:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:50:45 INFO: [Worker 0] Worker 0 house 2351 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 07:50:49 INFO: [Worker 0] Batching and saving trajectory data for house_2351: 1 episodes [pipeline.py: 233] +05/25 07:50:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:50:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:50:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2351 [save_utils.py: 703] +05/25 07:50:51 INFO: [Worker 0] Successfully saved trajectory data for house_2351 in 2.68s (batch: 2.58s, save: 0.10s) [pipeline.py: 280] +05/25 07:50:52 WARNING: [Worker 0] No trajectory data to save for house_2351 [pipeline.py: 229] +05/25 07:50:52 INFO: [Worker 0] Worker 0 completed house 2351: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:50:52 INFO: [Worker 0] Worker 0 starting house 2391 (index 45/121) [pipeline.py: 473] +05/25 07:50:52 INFO: [Worker 0] Loaded 1 episodes for house 2391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:50:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:50:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2391_ceiling.xml [task_sampler.py: 797] +05/25 07:50:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2391, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:50:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:50:55 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 07:50:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:50:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:50:55 INFO: [Worker 0] Sampled task 'Pick up the tool' [task_sampler.py: 1136] +05/25 07:50:55 INFO: [Worker 0] Worker 0 house 2391 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:50:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:50:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:52:41 INFO: [Worker 0] Worker 0 house 2391 episode 0 object objaadjustablewrench_9c640f9d50cb423bbffc485b92e10e5c_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 07:52:45 INFO: [Worker 0] Batching and saving trajectory data for house_2391: 1 episodes [pipeline.py: 233] +05/25 07:52:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:52:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:52:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2391 [save_utils.py: 703] +05/25 07:52:48 INFO: [Worker 0] Successfully saved trajectory data for house_2391 in 2.63s (batch: 2.53s, save: 0.10s) [pipeline.py: 280] +05/25 07:52:48 WARNING: [Worker 0] No trajectory data to save for house_2391 [pipeline.py: 229] +05/25 07:52:48 INFO: [Worker 0] Worker 0 completed house 2391: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:52:48 INFO: [Worker 0] Worker 0 starting house 2415 (index 46/121) [pipeline.py: 473] +05/25 07:52:48 INFO: [Worker 0] Loaded 1 episodes for house 2415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:52:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:52:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2415_ceiling.xml [task_sampler.py: 797] +05/25 07:52:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2415, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:52:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:52:50 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 07:52:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:52:50 INFO: [Worker 0] Sampled task 'Pick up the black tapered spike with tip' [task_sampler.py: 1136] +05/25 07:52:50 INFO: [Worker 0] Worker 0 house 2415 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:52:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:52:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:53:12 INFO: [Worker 0] Worker 0 house 2415 episode 0 object objaspike_f9d7354296ae472392c111e81f0ac276_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 07:53:16 INFO: [Worker 0] Batching and saving trajectory data for house_2415: 1 episodes [pipeline.py: 233] +05/25 07:53:16 INFO: [Worker 0] Preparing episode data: 97 timesteps [save_utils.py: 284] +05/25 07:53:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:53:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2415 [save_utils.py: 703] +05/25 07:53:18 INFO: [Worker 0] Successfully saved trajectory data for house_2415 in 2.48s (batch: 2.43s, save: 0.05s) [pipeline.py: 280] +05/25 07:53:19 WARNING: [Worker 0] No trajectory data to save for house_2415 [pipeline.py: 229] +05/25 07:53:19 INFO: [Worker 0] Worker 0 completed house 2415: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:53:19 INFO: [Worker 0] Worker 0 starting house 2462 (index 47/121) [pipeline.py: 473] +05/25 07:53:19 INFO: [Worker 0] Loaded 1 episodes for house 2462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:53:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:53:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2462_ceiling.xml [task_sampler.py: 797] +05/25 07:53:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2462, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:53:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:53:23 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 07:53:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:53:23 INFO: [Worker 0] Sampled task 'Pick up the mosaicfragment' [task_sampler.py: 1136] +05/25 07:53:23 INFO: [Worker 0] Worker 0 house 2462 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:53:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:53:23 WARNING: [Worker 0] Could not find object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 in scene [object_manager.py: 1238] +05/25 07:53:23 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 07:53:36 INFO: [Worker 0] Worker 0 house 2462 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=True [pipeline.py: 1114] +05/25 07:53:40 INFO: [Worker 0] Batching and saving trajectory data for house_2462: 1 episodes [pipeline.py: 233] +05/25 07:53:40 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/25 07:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:53:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2462 [save_utils.py: 703] +05/25 07:53:42 INFO: [Worker 0] Successfully saved trajectory data for house_2462 in 2.32s (batch: 2.29s, save: 0.04s) [pipeline.py: 280] +05/25 07:53:43 WARNING: [Worker 0] No trajectory data to save for house_2462 [pipeline.py: 229] +05/25 07:53:43 INFO: [Worker 0] Worker 0 completed house 2462: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:53:43 INFO: [Worker 0] Worker 0 starting house 2503 (index 48/121) [pipeline.py: 473] +05/25 07:53:43 INFO: [Worker 0] Loaded 1 episodes for house 2503 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:53:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:53:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2503_ceiling.xml [task_sampler.py: 797] +05/25 07:53:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2503, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:53:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:53:45 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 07:53:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:53:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:53:45 INFO: [Worker 0] Sampled task 'Pick up the logotype' [task_sampler.py: 1136] +05/25 07:53:45 INFO: [Worker 0] Worker 0 house 2503 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:53:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:55:40 INFO: [Worker 0] Worker 0 house 2503 episode 0 object objaemblem_96907aeebd274c7e8aadbc9b893db4a9_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:55:44 INFO: [Worker 0] Batching and saving trajectory data for house_2503: 1 episodes [pipeline.py: 233] +05/25 07:55:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:55:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:55:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2503 [save_utils.py: 703] +05/25 07:55:46 INFO: [Worker 0] Successfully saved trajectory data for house_2503 in 2.89s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/25 07:55:47 WARNING: [Worker 0] No trajectory data to save for house_2503 [pipeline.py: 229] +05/25 07:55:47 INFO: [Worker 0] Worker 0 completed house 2503: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:55:47 INFO: [Worker 0] Worker 0 starting house 2541 (index 49/121) [pipeline.py: 473] +05/25 07:55:47 INFO: [Worker 0] Loaded 1 episodes for house 2541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:55:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:55:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2541_ceiling.xml [task_sampler.py: 797] +05/25 07:55:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2541, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:55:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:55:52 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 07:55:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:55:52 INFO: [Worker 0] Sampled task 'Pick up the vintage yellow track shoe with spikes' [task_sampler.py: 1136] +05/25 07:55:52 INFO: [Worker 0] Worker 0 house 2541 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:55:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:55:52 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene [object_manager.py: 1238] +05/25 07:55:52 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene [object_manager.py: 1238] +05/25 07:58:11 INFO: [Worker 0] Worker 0 house 2541 episode 0 object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 07:58:15 INFO: [Worker 0] Batching and saving trajectory data for house_2541: 1 episodes [pipeline.py: 233] +05/25 07:58:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:58:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:58:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2541 [save_utils.py: 703] +05/25 07:58:18 INFO: [Worker 0] Successfully saved trajectory data for house_2541 in 2.76s (batch: 2.63s, save: 0.12s) [pipeline.py: 280] +05/25 07:58:18 WARNING: [Worker 0] No trajectory data to save for house_2541 [pipeline.py: 229] +05/25 07:58:18 INFO: [Worker 0] Worker 0 completed house 2541: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:58:18 INFO: [Worker 0] Worker 0 starting house 2585 (index 50/121) [pipeline.py: 473] +05/25 07:58:18 INFO: [Worker 0] Loaded 1 episodes for house 2585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 07:58:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:58:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2585_ceiling.xml [task_sampler.py: 797] +05/25 07:58:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2585, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:58:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:58:22 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 07:58:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:58:22 INFO: [Worker 0] Sampled task 'Pick up the green hexagonal badge with ribbon' [task_sampler.py: 1136] +05/25 07:58:22 INFO: [Worker 0] Worker 0 house 2585 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:58:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:58:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:00:10 INFO: [Worker 0] Worker 0 house 2585 episode 0 object objabadge_d9e0e0ca2712465a9e19596ce1ec4c8e_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 08:00:13 INFO: [Worker 0] Batching and saving trajectory data for house_2585: 1 episodes [pipeline.py: 233] +05/25 08:00:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:00:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:00:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2585 [save_utils.py: 703] +05/25 08:00:16 INFO: [Worker 0] Successfully saved trajectory data for house_2585 in 2.79s (batch: 2.68s, save: 0.12s) [pipeline.py: 280] +05/25 08:00:17 WARNING: [Worker 0] No trajectory data to save for house_2585 [pipeline.py: 229] +05/25 08:00:17 INFO: [Worker 0] Worker 0 completed house 2585: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:00:17 INFO: [Worker 0] Worker 0 starting house 2623 (index 51/121) [pipeline.py: 473] +05/25 08:00:17 INFO: [Worker 0] Loaded 1 episodes for house 2623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:00:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:00:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2623_ceiling.xml [task_sampler.py: 797] +05/25 08:00:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2623, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:00:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:00:22 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 08:00:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:00:22 INFO: [Worker 0] Sampled task 'Pick up the sugar bowl' [task_sampler.py: 1136] +05/25 08:00:22 INFO: [Worker 0] Worker 0 house 2623 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:00:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:00:22 WARNING: [Worker 0] Could not find object objagasmask_1d94357061ed4279a71291c665be0765_1_0_5 in scene [object_manager.py: 1238] +05/25 08:00:22 WARNING: [Worker 0] Could not find object cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_1_0_5 in scene [object_manager.py: 1238] +05/25 08:00:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:02:14 INFO: [Worker 0] Worker 0 house 2623 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:02:17 INFO: [Worker 0] Batching and saving trajectory data for house_2623: 1 episodes [pipeline.py: 233] +05/25 08:02:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:02:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:02:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2623 [save_utils.py: 703] +05/25 08:02:20 INFO: [Worker 0] Successfully saved trajectory data for house_2623 in 2.64s (batch: 2.53s, save: 0.11s) [pipeline.py: 280] +05/25 08:02:21 WARNING: [Worker 0] No trajectory data to save for house_2623 [pipeline.py: 229] +05/25 08:02:21 INFO: [Worker 0] Worker 0 completed house 2623: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:02:21 INFO: [Worker 0] Worker 0 starting house 2653 (index 52/121) [pipeline.py: 473] +05/25 08:02:21 INFO: [Worker 0] Loaded 1 episodes for house 2653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:02:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:02:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2653_ceiling.xml [task_sampler.py: 797] +05/25 08:02:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2653, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:02:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:02:22 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 08:02:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:02:22 INFO: [Worker 0] Sampled task 'Pick up the chocolate covered nut ice cream' [task_sampler.py: 1136] +05/25 08:02:22 INFO: [Worker 0] Worker 0 house 2653 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:02:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:02:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:02:32 INFO: [Worker 0] Worker 0 house 2653 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:02:36 INFO: [Worker 0] Batching and saving trajectory data for house_2653: 1 episodes [pipeline.py: 233] +05/25 08:02:36 INFO: [Worker 0] Preparing episode data: 46 timesteps [save_utils.py: 284] +05/25 08:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:02:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2653 [save_utils.py: 703] +05/25 08:02:38 INFO: [Worker 0] Successfully saved trajectory data for house_2653 in 2.40s (batch: 2.35s, save: 0.05s) [pipeline.py: 280] +05/25 08:02:39 WARNING: [Worker 0] No trajectory data to save for house_2653 [pipeline.py: 229] +05/25 08:02:39 INFO: [Worker 0] Worker 0 completed house 2653: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:02:39 INFO: [Worker 0] Worker 0 starting house 2695 (index 53/121) [pipeline.py: 473] +05/25 08:02:39 INFO: [Worker 0] Loaded 1 episodes for house 2695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:02:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:02:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2695_ceiling.xml [task_sampler.py: 797] +05/25 08:02:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2695, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:02:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:02:42 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 08:02:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:02:42 INFO: [Worker 0] Sampled task 'Pick up the black stylus pen' [task_sampler.py: 1136] +05/25 08:02:42 INFO: [Worker 0] Worker 0 house 2695 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:02:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:02:42 WARNING: [Worker 0] Could not find object objapackagingtray_4852600853ff4585a62a59b98a7b7744_1_0_6 in scene [object_manager.py: 1238] +05/25 08:02:42 WARNING: [Worker 0] Could not find object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_6 in scene [object_manager.py: 1238] +05/25 08:02:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:02:53 INFO: [Worker 0] Worker 0 house 2695 episode 0 object objastyluspen_0a77378c4ec64c8cb67e19b9f44a5de5_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 08:02:57 INFO: [Worker 0] Batching and saving trajectory data for house_2695: 1 episodes [pipeline.py: 233] +05/25 08:02:57 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/25 08:02:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:02:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2695 [save_utils.py: 703] +05/25 08:02:59 INFO: [Worker 0] Successfully saved trajectory data for house_2695 in 2.34s (batch: 2.30s, save: 0.04s) [pipeline.py: 280] +05/25 08:03:00 WARNING: [Worker 0] No trajectory data to save for house_2695 [pipeline.py: 229] +05/25 08:03:00 INFO: [Worker 0] Worker 0 completed house 2695: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:03:00 INFO: [Worker 0] Worker 0 starting house 2728 (index 54/121) [pipeline.py: 473] +05/25 08:03:00 INFO: [Worker 0] Loaded 1 episodes for house 2728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:03:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:03:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2728_ceiling.xml [task_sampler.py: 797] +05/25 08:03:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2728, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:03:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:03:04 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 08:03:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:03:04 INFO: [Worker 0] Sampled task 'Pick up the turquoise blade squeegee' [task_sampler.py: 1136] +05/25 08:03:04 INFO: [Worker 0] Worker 0 house 2728 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:03:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:03:05 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_7 in scene [object_manager.py: 1238] +05/25 08:03:05 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_2_0_7 in scene [object_manager.py: 1238] +05/25 08:03:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:05:13 INFO: [Worker 0] Worker 0 house 2728 episode 0 object objasqueegee_42a4cfa4a56746fa8eb865cc19077e8d_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 08:05:17 INFO: [Worker 0] Batching and saving trajectory data for house_2728: 1 episodes [pipeline.py: 233] +05/25 08:05:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:05:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:05:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2728 [save_utils.py: 703] +05/25 08:05:20 INFO: [Worker 0] Successfully saved trajectory data for house_2728 in 2.81s (batch: 2.70s, save: 0.11s) [pipeline.py: 280] +05/25 08:05:21 WARNING: [Worker 0] No trajectory data to save for house_2728 [pipeline.py: 229] +05/25 08:05:21 INFO: [Worker 0] Worker 0 completed house 2728: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:05:21 INFO: [Worker 0] Worker 0 starting house 2766 (index 55/121) [pipeline.py: 473] +05/25 08:05:21 INFO: [Worker 0] Loaded 1 episodes for house 2766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:05:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:05:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2766_ceiling.xml [task_sampler.py: 797] +05/25 08:05:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2766, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:05:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:05:25 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 08:05:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:05:25 INFO: [Worker 0] Sampled task 'Pick up the hexagonal metal rod' [task_sampler.py: 1136] +05/25 08:05:25 INFO: [Worker 0] Worker 0 house 2766 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:05:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:05:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:07:30 INFO: [Worker 0] Worker 0 house 2766 episode 0 object objametalrod_41462f7e54e24b4294f62104cb085996_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:07:34 INFO: [Worker 0] Batching and saving trajectory data for house_2766: 1 episodes [pipeline.py: 233] +05/25 08:07:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:07:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:07:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2766 [save_utils.py: 703] +05/25 08:07:37 INFO: [Worker 0] Successfully saved trajectory data for house_2766 in 2.87s (batch: 2.75s, save: 0.12s) [pipeline.py: 280] +05/25 08:07:38 WARNING: [Worker 0] No trajectory data to save for house_2766 [pipeline.py: 229] +05/25 08:07:38 INFO: [Worker 0] Worker 0 completed house 2766: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:07:38 INFO: [Worker 0] Worker 0 starting house 2807 (index 56/121) [pipeline.py: 473] +05/25 08:07:38 INFO: [Worker 0] Loaded 1 episodes for house 2807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:07:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:07:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2807_ceiling.xml [task_sampler.py: 797] +05/25 08:07:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2807, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:07:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:07:44 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 08:07:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:07:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:07:44 INFO: [Worker 0] Sampled task 'Pick up the slender wooden needle with pointed tip' [task_sampler.py: 1136] +05/25 08:07:44 INFO: [Worker 0] Worker 0 house 2807 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:07:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:07:44 WARNING: [Worker 0] Could not find object objahardhat_0b2c9268652246dd9639ccf2cec10a1c_1_0_6 in scene [object_manager.py: 1238] +05/25 08:07:44 WARNING: [Worker 0] Could not find object objarockyterrainmodel_4fc725d678894c4295fa984ec49c9247_1_0_9 in scene [object_manager.py: 1238] +05/25 08:07:44 WARNING: [Worker 0] Could not find object bowl_b389900f385a224adfc6bfda9c92faf5_1_0_9 in scene [object_manager.py: 1238] +05/25 08:07:44 WARNING: [Worker 0] Could not find object box_0140b828007f0f38133e0ca9e138ff0e_1_0_9 in scene [object_manager.py: 1238] +05/25 08:10:10 INFO: [Worker 0] Worker 0 house 2807 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:10:14 INFO: [Worker 0] Batching and saving trajectory data for house_2807: 1 episodes [pipeline.py: 233] +05/25 08:10:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:10:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2807 [save_utils.py: 703] +05/25 08:10:17 INFO: [Worker 0] Successfully saved trajectory data for house_2807 in 2.81s (batch: 2.71s, save: 0.10s) [pipeline.py: 280] +05/25 08:10:17 WARNING: [Worker 0] No trajectory data to save for house_2807 [pipeline.py: 229] +05/25 08:10:17 INFO: [Worker 0] Worker 0 completed house 2807: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:10:17 INFO: [Worker 0] Worker 0 starting house 2846 (index 57/121) [pipeline.py: 473] +05/25 08:10:17 INFO: [Worker 0] Loaded 1 episodes for house 2846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:10:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:10:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2846_ceiling.xml [task_sampler.py: 797] +05/25 08:10:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2846, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:10:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:10:21 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 08:10:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:10:21 INFO: [Worker 0] Sampled task 'Pick up the silver mace' [task_sampler.py: 1136] +05/25 08:10:21 INFO: [Worker 0] Worker 0 house 2846 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:10:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:10:22 WARNING: [Worker 0] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_7 in scene [object_manager.py: 1238] +05/25 08:12:19 INFO: [Worker 0] Worker 0 house 2846 episode 0 object objamace_82aa62b2083742eebf45dc96d2db674a_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:12:23 INFO: [Worker 0] Batching and saving trajectory data for house_2846: 1 episodes [pipeline.py: 233] +05/25 08:12:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:12:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:12:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2846 [save_utils.py: 703] +05/25 08:12:26 INFO: [Worker 0] Successfully saved trajectory data for house_2846 in 2.90s (batch: 2.79s, save: 0.11s) [pipeline.py: 280] +05/25 08:12:27 WARNING: [Worker 0] No trajectory data to save for house_2846 [pipeline.py: 229] +05/25 08:12:27 INFO: [Worker 0] Worker 0 completed house 2846: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:12:27 INFO: [Worker 0] Worker 0 starting house 2875 (index 58/121) [pipeline.py: 473] +05/25 08:12:27 INFO: [Worker 0] Loaded 1 episodes for house 2875 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:12:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:12:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2875_ceiling.xml [task_sampler.py: 797] +05/25 08:12:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2875, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:12:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:12:31 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 08:12:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:12:31 INFO: [Worker 0] Sampled task 'Pick up the round clay dish with handles' [task_sampler.py: 1136] +05/25 08:12:31 INFO: [Worker 0] Worker 0 house 2875 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:12:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:12:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:13:04 INFO: [Worker 0] Worker 0 house 2875 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:13:08 INFO: [Worker 0] Batching and saving trajectory data for house_2875: 1 episodes [pipeline.py: 233] +05/25 08:13:08 INFO: [Worker 0] Preparing episode data: 120 timesteps [save_utils.py: 284] +05/25 08:13:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:13:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2875 [save_utils.py: 703] +05/25 08:13:10 INFO: [Worker 0] Successfully saved trajectory data for house_2875 in 2.36s (batch: 2.32s, save: 0.05s) [pipeline.py: 280] +05/25 08:13:10 WARNING: [Worker 0] No trajectory data to save for house_2875 [pipeline.py: 229] +05/25 08:13:10 INFO: [Worker 0] Worker 0 completed house 2875: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:13:10 INFO: [Worker 0] Worker 0 starting house 2915 (index 59/121) [pipeline.py: 473] +05/25 08:13:10 INFO: [Worker 0] Loaded 1 episodes for house 2915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:13:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:13:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2915_ceiling.xml [task_sampler.py: 797] +05/25 08:13:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2915, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:13:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:13:12 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/25 08:13:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:13:12 INFO: [Worker 0] Sampled task 'Pick up the white candle on holder' [task_sampler.py: 1136] +05/25 08:13:12 INFO: [Worker 0] Worker 0 house 2915 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:13:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:14:43 INFO: [Worker 0] Worker 0 house 2915 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:14:47 INFO: [Worker 0] Batching and saving trajectory data for house_2915: 1 episodes [pipeline.py: 233] +05/25 08:14:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:14:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:14:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2915 [save_utils.py: 703] +05/25 08:14:49 INFO: [Worker 0] Successfully saved trajectory data for house_2915 in 2.67s (batch: 2.57s, save: 0.10s) [pipeline.py: 280] +05/25 08:14:50 WARNING: [Worker 0] No trajectory data to save for house_2915 [pipeline.py: 229] +05/25 08:14:50 INFO: [Worker 0] Worker 0 completed house 2915: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:14:50 INFO: [Worker 0] Worker 0 starting house 2970 (index 60/121) [pipeline.py: 473] +05/25 08:14:50 INFO: [Worker 0] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:14:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:14:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2970_ceiling.xml [task_sampler.py: 797] +05/25 08:14:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:14:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:14:56 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 08:14:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:14:56 INFO: [Worker 0] Sampled task 'Pick up the small beige porous sponge with markings' [task_sampler.py: 1136] +05/25 08:14:56 INFO: [Worker 0] Worker 0 house 2970 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:14:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:14:56 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene [object_manager.py: 1238] +05/25 08:14:56 WARNING: [Worker 0] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene [object_manager.py: 1238] +05/25 08:14:56 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene [object_manager.py: 1238] +05/25 08:17:10 INFO: [Worker 0] Worker 0 house 2970 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 08:17:13 INFO: [Worker 0] Batching and saving trajectory data for house_2970: 1 episodes [pipeline.py: 233] +05/25 08:17:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:17:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:17:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2970 [save_utils.py: 703] +05/25 08:17:16 INFO: [Worker 0] Successfully saved trajectory data for house_2970 in 2.79s (batch: 2.69s, save: 0.10s) [pipeline.py: 280] +05/25 08:17:17 WARNING: [Worker 0] No trajectory data to save for house_2970 [pipeline.py: 229] +05/25 08:17:17 INFO: [Worker 0] Worker 0 completed house 2970: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:17:17 INFO: [Worker 0] Worker 0 starting house 3019 (index 61/121) [pipeline.py: 473] +05/25 08:17:17 INFO: [Worker 0] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:17:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:17:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3019_ceiling.xml [task_sampler.py: 797] +05/25 08:17:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:17:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:17:23 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 08:17:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:17:23 INFO: [Worker 0] Sampled task 'Pick up the blue handle shallow pan' [task_sampler.py: 1136] +05/25 08:17:23 INFO: [Worker 0] Worker 0 house 3019 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:17:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:17:23 WARNING: [Worker 0] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene [object_manager.py: 1238] +05/25 08:17:23 WARNING: [Worker 0] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene [object_manager.py: 1238] +05/25 08:17:57 INFO: [Worker 0] Worker 0 house 3019 episode 0 object cookingpan_987b6d6cc7696fe9beecf0ce92099460_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 08:18:00 INFO: [Worker 0] Batching and saving trajectory data for house_3019: 1 episodes [pipeline.py: 233] +05/25 08:18:01 INFO: [Worker 0] Preparing episode data: 101 timesteps [save_utils.py: 284] +05/25 08:18:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:18:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3019 [save_utils.py: 703] +05/25 08:18:03 INFO: [Worker 0] Successfully saved trajectory data for house_3019 in 2.56s (batch: 2.51s, save: 0.05s) [pipeline.py: 280] +05/25 08:18:04 WARNING: [Worker 0] No trajectory data to save for house_3019 [pipeline.py: 229] +05/25 08:18:04 INFO: [Worker 0] Worker 0 completed house 3019: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:18:04 INFO: [Worker 0] Worker 0 starting house 3045 (index 62/121) [pipeline.py: 473] +05/25 08:18:04 INFO: [Worker 0] Loaded 1 episodes for house 3045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:18:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:18:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3045_ceiling.xml [task_sampler.py: 797] +05/25 08:18:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3045, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:18:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:18:11 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/25 08:18:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:18:11 INFO: [Worker 0] Sampled task 'Pick up the wooden mug' [task_sampler.py: 1136] +05/25 08:18:11 INFO: [Worker 0] Worker 0 house 3045 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:18:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:18:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:18:36 INFO: [Worker 0] Worker 0 house 3045 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:18:40 INFO: [Worker 0] Batching and saving trajectory data for house_3045: 1 episodes [pipeline.py: 233] +05/25 08:18:40 INFO: [Worker 0] Preparing episode data: 70 timesteps [save_utils.py: 284] +05/25 08:18:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:18:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3045 [save_utils.py: 703] +05/25 08:18:43 INFO: [Worker 0] Successfully saved trajectory data for house_3045 in 2.66s (batch: 2.61s, save: 0.04s) [pipeline.py: 280] +05/25 08:18:43 WARNING: [Worker 0] No trajectory data to save for house_3045 [pipeline.py: 229] +05/25 08:18:43 INFO: [Worker 0] Worker 0 completed house 3045: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:18:43 INFO: [Worker 0] Worker 0 starting house 3103 (index 63/121) [pipeline.py: 473] +05/25 08:18:43 INFO: [Worker 0] Loaded 1 episodes for house 3103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:18:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:18:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3103_ceiling.xml [task_sampler.py: 797] +05/25 08:18:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3103, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:18:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:18:48 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 08:18:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:18:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:18:48 INFO: [Worker 0] Sampled task 'Pick up the orange patterned ceramic vessel' [task_sampler.py: 1136] +05/25 08:18:48 INFO: [Worker 0] Worker 0 house 3103 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:18:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:18:48 WARNING: [Worker 0] Could not find object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_5 in scene [object_manager.py: 1238] +05/25 08:18:48 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/25 08:20:59 INFO: [Worker 0] Worker 0 house 3103 episode 0 object objaceramicvessel_6db775ca1bd14c5da45b45aea13d99e5_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:21:03 INFO: [Worker 0] Batching and saving trajectory data for house_3103: 1 episodes [pipeline.py: 233] +05/25 08:21:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:21:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:21:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3103 [save_utils.py: 703] +05/25 08:21:06 INFO: [Worker 0] Successfully saved trajectory data for house_3103 in 2.81s (batch: 2.70s, save: 0.10s) [pipeline.py: 280] +05/25 08:21:06 WARNING: [Worker 0] No trajectory data to save for house_3103 [pipeline.py: 229] +05/25 08:21:06 INFO: [Worker 0] Worker 0 completed house 3103: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:21:06 INFO: [Worker 0] Worker 0 starting house 3180 (index 64/121) [pipeline.py: 473] +05/25 08:21:06 INFO: [Worker 0] Loaded 1 episodes for house 3180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:21:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:21:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3180_ceiling.xml [task_sampler.py: 797] +05/25 08:21:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3180, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:21:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:21:08 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 08:21:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:21:08 INFO: [Worker 0] Sampled task 'Pick up the pineapple with green spiky crown' [task_sampler.py: 1136] +05/25 08:21:08 INFO: [Worker 0] Worker 0 house 3180 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:21:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:21:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:22:54 INFO: [Worker 0] Worker 0 house 3180 episode 0 object objapineapple_1aa94c9127004536a5f2b14f9743675b_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:22:57 INFO: [Worker 0] Batching and saving trajectory data for house_3180: 1 episodes [pipeline.py: 233] +05/25 08:22:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:23:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:23:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3180 [save_utils.py: 703] +05/25 08:23:00 INFO: [Worker 0] Successfully saved trajectory data for house_3180 in 2.74s (batch: 2.63s, save: 0.10s) [pipeline.py: 280] +05/25 08:23:01 WARNING: [Worker 0] No trajectory data to save for house_3180 [pipeline.py: 229] +05/25 08:23:01 INFO: [Worker 0] Worker 0 completed house 3180: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:23:01 INFO: [Worker 0] Worker 0 starting house 3211 (index 65/121) [pipeline.py: 473] +05/25 08:23:01 INFO: [Worker 0] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:23:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:23:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3211_ceiling.xml [task_sampler.py: 797] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3211, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/25 08:23:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:23:04 INFO: [Worker 0] Sampled task 'Pick up the broccoli' [task_sampler.py: 1136] +05/25 08:23:04 INFO: [Worker 0] Worker 0 house 3211 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:23:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:23:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:25:02 INFO: [Worker 0] Worker 0 house 3211 episode 0 object objavegetable_6bafea3c607848f78a42239755eac8ee_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:25:05 INFO: [Worker 0] Batching and saving trajectory data for house_3211: 1 episodes [pipeline.py: 233] +05/25 08:25:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:25:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:25:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3211 [save_utils.py: 703] +05/25 08:25:09 INFO: [Worker 0] Successfully saved trajectory data for house_3211 in 3.02s (batch: 2.89s, save: 0.13s) [pipeline.py: 280] +05/25 08:25:09 WARNING: [Worker 0] No trajectory data to save for house_3211 [pipeline.py: 229] +05/25 08:25:09 INFO: [Worker 0] Worker 0 completed house 3211: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:25:09 INFO: [Worker 0] Worker 0 starting house 3241 (index 66/121) [pipeline.py: 473] +05/25 08:25:09 INFO: [Worker 0] Loaded 1 episodes for house 3241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:25:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:25:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:25:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3241_ceiling.xml [task_sampler.py: 797] +05/25 08:25:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3241, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:25:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:25:16 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 08:25:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:25:16 INFO: [Worker 0] Sampled task 'Pick up the ornate white corner molding piece' [task_sampler.py: 1136] +05/25 08:25:16 INFO: [Worker 0] Worker 0 house 3241 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:25:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:25:16 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/25 08:25:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:27:28 INFO: [Worker 0] Worker 0 house 3241 episode 0 object objadecorativemolding_00c872b61d4441c68c8e5d23953a221f_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:27:32 INFO: [Worker 0] Batching and saving trajectory data for house_3241: 1 episodes [pipeline.py: 233] +05/25 08:27:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:27:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:27:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3241 [save_utils.py: 703] +05/25 08:27:35 INFO: [Worker 0] Successfully saved trajectory data for house_3241 in 2.62s (batch: 2.52s, save: 0.10s) [pipeline.py: 280] +05/25 08:27:35 WARNING: [Worker 0] No trajectory data to save for house_3241 [pipeline.py: 229] +05/25 08:27:35 INFO: [Worker 0] Worker 0 completed house 3241: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:27:35 INFO: [Worker 0] Worker 0 starting house 3273 (index 67/121) [pipeline.py: 473] +05/25 08:27:35 INFO: [Worker 0] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:27:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:27:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3273_ceiling.xml [task_sampler.py: 797] +05/25 08:27:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3273, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:27:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:27:39 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 08:27:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:27:39 INFO: [Worker 0] Sampled task 'Pick up the gradient hollow gender symbol' [task_sampler.py: 1136] +05/25 08:27:39 INFO: [Worker 0] Worker 0 house 3273 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:27:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:27:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:29:30 INFO: [Worker 0] Worker 0 house 3273 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 08:29:34 INFO: [Worker 0] Batching and saving trajectory data for house_3273: 1 episodes [pipeline.py: 233] +05/25 08:29:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:29:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3273 [save_utils.py: 703] +05/25 08:29:37 INFO: [Worker 0] Successfully saved trajectory data for house_3273 in 2.98s (batch: 2.89s, save: 0.10s) [pipeline.py: 280] +05/25 08:29:38 WARNING: [Worker 0] No trajectory data to save for house_3273 [pipeline.py: 229] +05/25 08:29:38 INFO: [Worker 0] Worker 0 completed house 3273: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:29:38 INFO: [Worker 0] Worker 0 starting house 3299 (index 68/121) [pipeline.py: 473] +05/25 08:29:38 INFO: [Worker 0] Loaded 1 episodes for house 3299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:29:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:29:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3299_ceiling.xml [task_sampler.py: 797] +05/25 08:29:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3299, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:29:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:29:46 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/25 08:29:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:29:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:29:46 INFO: [Worker 0] Sampled task 'Pick up the gold foil bunny' [task_sampler.py: 1136] +05/25 08:29:46 INFO: [Worker 0] Worker 0 house 3299 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:29:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:29:46 WARNING: [Worker 0] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_2 in scene [object_manager.py: 1238] +05/25 08:32:18 INFO: [Worker 0] Worker 0 house 3299 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_2_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:32:22 INFO: [Worker 0] Batching and saving trajectory data for house_3299: 1 episodes [pipeline.py: 233] +05/25 08:32:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:32:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:32:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3299 [save_utils.py: 703] +05/25 08:32:25 INFO: [Worker 0] Successfully saved trajectory data for house_3299 in 2.81s (batch: 2.71s, save: 0.10s) [pipeline.py: 280] +05/25 08:32:26 WARNING: [Worker 0] No trajectory data to save for house_3299 [pipeline.py: 229] +05/25 08:32:26 INFO: [Worker 0] Worker 0 completed house 3299: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:32:26 INFO: [Worker 0] Worker 0 starting house 3362 (index 69/121) [pipeline.py: 473] +05/25 08:32:26 INFO: [Worker 0] Loaded 1 episodes for house 3362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:32:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:32:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3362_ceiling.xml [task_sampler.py: 797] +05/25 08:32:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3362, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:32:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:32:32 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 08:32:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:32:32 INFO: [Worker 0] Sampled task 'Pick up the smooth circular ring' [task_sampler.py: 1136] +05/25 08:32:32 INFO: [Worker 0] Worker 0 house 3362 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:32:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:32:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:33:58 INFO: [Worker 0] Worker 0 house 3362 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:34:01 INFO: [Worker 0] Batching and saving trajectory data for house_3362: 1 episodes [pipeline.py: 233] +05/25 08:34:01 INFO: [Worker 0] Preparing episode data: 319 timesteps [save_utils.py: 284] +05/25 08:34:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:34:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3362 [save_utils.py: 703] +05/25 08:34:04 INFO: [Worker 0] Successfully saved trajectory data for house_3362 in 2.65s (batch: 2.55s, save: 0.10s) [pipeline.py: 280] +05/25 08:34:05 WARNING: [Worker 0] No trajectory data to save for house_3362 [pipeline.py: 229] +05/25 08:34:05 INFO: [Worker 0] Worker 0 completed house 3362: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:34:05 INFO: [Worker 0] Worker 0 starting house 3407 (index 70/121) [pipeline.py: 473] +05/25 08:34:05 INFO: [Worker 0] Loaded 1 episodes for house 3407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:34:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:34:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3407_ceiling.xml [task_sampler.py: 797] +05/25 08:34:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3407, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:34:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:34:07 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 08:34:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:34:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:34:07 INFO: [Worker 0] Sampled task 'Pick up the slender blue rod with base' [task_sampler.py: 1136] +05/25 08:34:07 INFO: [Worker 0] Worker 0 house 3407 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:34:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:34:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:36:01 INFO: [Worker 0] Worker 0 house 3407 episode 0 object objadecorativestake_f4ce2fea0b744e0a98b2073b00efd5dc_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:36:05 INFO: [Worker 0] Batching and saving trajectory data for house_3407: 1 episodes [pipeline.py: 233] +05/25 08:36:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:36:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:36:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3407 [save_utils.py: 703] +05/25 08:36:08 INFO: [Worker 0] Successfully saved trajectory data for house_3407 in 2.95s (batch: 2.81s, save: 0.14s) [pipeline.py: 280] +05/25 08:36:08 WARNING: [Worker 0] No trajectory data to save for house_3407 [pipeline.py: 229] +05/25 08:36:08 INFO: [Worker 0] Worker 0 completed house 3407: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:36:08 INFO: [Worker 0] Worker 0 starting house 3463 (index 71/121) [pipeline.py: 473] +05/25 08:36:08 INFO: [Worker 0] Loaded 1 episodes for house 3463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:36:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:36:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3463_ceiling.xml [task_sampler.py: 797] +05/25 08:36:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3463, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:36:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:36:12 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/25 08:36:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:36:12 INFO: [Worker 0] Sampled task 'Pick up the compact blue fiber cleaver' [task_sampler.py: 1136] +05/25 08:36:12 INFO: [Worker 0] Worker 0 house 3463 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:36:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:36:12 WARNING: [Worker 0] Could not find object objadecorativetext_4b33cf70ffca4b95829bec5548eb00f1_2_0_4 in scene [object_manager.py: 1238] +05/25 08:36:12 WARNING: [Worker 0] Could not find object bowl_e39b26ad821ce047b69262973c668c88_1_0_4 in scene [object_manager.py: 1238] +05/25 08:38:24 INFO: [Worker 0] Worker 0 house 3463 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 08:38:28 INFO: [Worker 0] Batching and saving trajectory data for house_3463: 1 episodes [pipeline.py: 233] +05/25 08:38:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:38:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:38:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3463 [save_utils.py: 703] +05/25 08:38:31 INFO: [Worker 0] Successfully saved trajectory data for house_3463 in 3.00s (batch: 2.85s, save: 0.15s) [pipeline.py: 280] +05/25 08:38:32 WARNING: [Worker 0] No trajectory data to save for house_3463 [pipeline.py: 229] +05/25 08:38:32 INFO: [Worker 0] Worker 0 completed house 3463: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:38:32 INFO: [Worker 0] Worker 0 starting house 3490 (index 72/121) [pipeline.py: 473] +05/25 08:38:32 INFO: [Worker 0] Loaded 1 episodes for house 3490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:38:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:38:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3490_ceiling.xml [task_sampler.py: 797] +05/25 08:38:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3490, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:38:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:38:34 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/25 08:38:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:38:34 INFO: [Worker 0] Sampled task 'Pick up the pink puzzle piece with numbers and braille' [task_sampler.py: 1136] +05/25 08:38:34 INFO: [Worker 0] Worker 0 house 3490 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:38:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:38:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:40:27 INFO: [Worker 0] Worker 0 house 3490 episode 0 object objapuzzlepiece_1cf1d2bda5a446bd92617b2989f7f408_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:40:30 INFO: [Worker 0] Batching and saving trajectory data for house_3490: 1 episodes [pipeline.py: 233] +05/25 08:40:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:40:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:40:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3490 [save_utils.py: 703] +05/25 08:40:33 INFO: [Worker 0] Successfully saved trajectory data for house_3490 in 2.82s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/25 08:40:34 WARNING: [Worker 0] No trajectory data to save for house_3490 [pipeline.py: 229] +05/25 08:40:34 INFO: [Worker 0] Worker 0 completed house 3490: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:40:34 INFO: [Worker 0] Worker 0 starting house 3525 (index 73/121) [pipeline.py: 473] +05/25 08:40:34 INFO: [Worker 0] Loaded 1 episodes for house 3525 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:40:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:40:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3525_ceiling.xml [task_sampler.py: 797] +05/25 08:40:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3525, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:40:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:40:38 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 08:40:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:40:38 INFO: [Worker 0] Sampled task 'Pick up the model' [task_sampler.py: 1136] +05/25 08:40:38 INFO: [Worker 0] Worker 0 house 3525 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:40:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:40:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:42:21 INFO: [Worker 0] Worker 0 house 3525 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 08:42:24 INFO: [Worker 0] Batching and saving trajectory data for house_3525: 1 episodes [pipeline.py: 233] +05/25 08:42:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:42:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:42:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3525 [save_utils.py: 703] +05/25 08:42:27 INFO: [Worker 0] Successfully saved trajectory data for house_3525 in 2.64s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/25 08:42:28 WARNING: [Worker 0] No trajectory data to save for house_3525 [pipeline.py: 229] +05/25 08:42:28 INFO: [Worker 0] Worker 0 completed house 3525: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:42:28 INFO: [Worker 0] Worker 0 starting house 3560 (index 74/121) [pipeline.py: 473] +05/25 08:42:28 INFO: [Worker 0] Loaded 1 episodes for house 3560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:42:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:42:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3560_ceiling.xml [task_sampler.py: 797] +05/25 08:42:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3560, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:42:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:42:33 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 08:42:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:42:33 INFO: [Worker 0] Sampled task 'Pick up the ornate vintage bird-shaped metal nutcracker' [task_sampler.py: 1136] +05/25 08:42:33 INFO: [Worker 0] Worker 0 house 3560 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:42:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:42:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:43:12 INFO: [Worker 0] Worker 0 house 3560 episode 0 object objanutcracker_6c5d5625b437407ca52ebe2f342307ad_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:43:16 INFO: [Worker 0] Batching and saving trajectory data for house_3560: 1 episodes [pipeline.py: 233] +05/25 08:43:16 INFO: [Worker 0] Preparing episode data: 137 timesteps [save_utils.py: 284] +05/25 08:43:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:43:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3560 [save_utils.py: 703] +05/25 08:43:18 INFO: [Worker 0] Successfully saved trajectory data for house_3560 in 2.48s (batch: 2.44s, save: 0.05s) [pipeline.py: 280] +05/25 08:43:19 WARNING: [Worker 0] No trajectory data to save for house_3560 [pipeline.py: 229] +05/25 08:43:19 INFO: [Worker 0] Worker 0 completed house 3560: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:43:19 INFO: [Worker 0] Worker 0 starting house 3590 (index 75/121) [pipeline.py: 473] +05/25 08:43:19 INFO: [Worker 0] Loaded 2 episodes for house 3590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:43:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:43:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3590_ceiling.xml [task_sampler.py: 797] +05/25 08:43:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3590, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:43:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:43:20 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/25 08:43:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:43:20 INFO: [Worker 0] Sampled task 'Pick up the robotichand' [task_sampler.py: 1136] +05/25 08:43:20 INFO: [Worker 0] Worker 0 house 3590 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 08:43:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:43:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:45:00 INFO: [Worker 0] Worker 0 house 3590 episode 0 object objarobotichand_f9ef05feed74414cbb7db55ebbcf3286_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:45:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:45:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3590_ceiling.xml [task_sampler.py: 797] +05/25 08:45:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3590, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:45:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:45:05 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/25 08:45:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:45:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:45:05 INFO: [Worker 0] Sampled task 'Pick up the lense' [task_sampler.py: 1136] +05/25 08:45:05 INFO: [Worker 0] Worker 0 house 3590 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 08:45:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:45:22 INFO: [Worker 0] Worker 0 house 3590 episode 1 object objacameralens_3c9afba12cd94e2694c5213c271d579e_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:45:25 INFO: [Worker 0] Batching and saving trajectory data for house_3590: 2 episodes [pipeline.py: 233] +05/25 08:45:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:45:28 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 284] +05/25 08:45:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:45:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:45:31 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3590 [save_utils.py: 703] +05/25 08:45:31 INFO: [Worker 0] Successfully saved trajectory data for house_3590 in 5.13s (batch: 4.99s, save: 0.13s) [pipeline.py: 280] +05/25 08:45:31 WARNING: [Worker 0] No trajectory data to save for house_3590 [pipeline.py: 229] +05/25 08:45:31 INFO: [Worker 0] Worker 0 completed house 3590: 1/2 successful episodes [pipeline.py: 1243] +05/25 08:45:31 INFO: [Worker 0] Worker 0 starting house 3606 (index 76/121) [pipeline.py: 473] +05/25 08:45:31 INFO: [Worker 0] Loaded 1 episodes for house 3606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:45:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:45:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3606_ceiling.xml [task_sampler.py: 797] +05/25 08:45:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3606, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:45:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:45:34 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 08:45:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:45:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:45:34 INFO: [Worker 0] Sampled task 'Pick up the glossy red faceted gemstone with indentation' [task_sampler.py: 1136] +05/25 08:45:34 INFO: [Worker 0] Worker 0 house 3606 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:45:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:47:21 INFO: [Worker 0] Worker 0 house 3606 episode 0 object objagemstone_0e89110673274bb2bc64ef9331b00e07_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 08:47:25 INFO: [Worker 0] Batching and saving trajectory data for house_3606: 1 episodes [pipeline.py: 233] +05/25 08:47:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:47:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:47:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3606 [save_utils.py: 703] +05/25 08:47:27 INFO: [Worker 0] Successfully saved trajectory data for house_3606 in 2.81s (batch: 2.68s, save: 0.12s) [pipeline.py: 280] +05/25 08:47:28 WARNING: [Worker 0] No trajectory data to save for house_3606 [pipeline.py: 229] +05/25 08:47:28 INFO: [Worker 0] Worker 0 completed house 3606: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:47:28 INFO: [Worker 0] Worker 0 starting house 3635 (index 77/121) [pipeline.py: 473] +05/25 08:47:28 INFO: [Worker 0] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:47:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:47:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3635_ceiling.xml [task_sampler.py: 797] +05/25 08:47:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3635, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:47:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:47:39 INFO: [Worker 0] randomize_scene: Setting poses for 115 objects [json_eval_task_sampler.py: 686] +05/25 08:47:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:47:39 INFO: [Worker 0] Sampled task 'Pick up the golden medallion on stand' [task_sampler.py: 1136] +05/25 08:47:39 INFO: [Worker 0] Worker 0 house 3635 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:47:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:47:39 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene [object_manager.py: 1238] +05/25 08:47:39 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene [object_manager.py: 1238] +05/25 08:47:39 WARNING: [Worker 0] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene [object_manager.py: 1238] +05/25 08:47:39 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/25 08:50:08 INFO: [Worker 0] Worker 0 house 3635 episode 0 object objatrophy_703654858927479da6d5bd52c76d1411_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 08:50:12 INFO: [Worker 0] Batching and saving trajectory data for house_3635: 1 episodes [pipeline.py: 233] +05/25 08:50:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:50:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:50:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3635 [save_utils.py: 703] +05/25 08:50:15 INFO: [Worker 0] Successfully saved trajectory data for house_3635 in 3.01s (batch: 2.88s, save: 0.13s) [pipeline.py: 280] +05/25 08:50:16 WARNING: [Worker 0] No trajectory data to save for house_3635 [pipeline.py: 229] +05/25 08:50:16 INFO: [Worker 0] Worker 0 completed house 3635: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:50:16 INFO: [Worker 0] Worker 0 starting house 3665 (index 78/121) [pipeline.py: 473] +05/25 08:50:16 INFO: [Worker 0] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:50:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:50:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3665_ceiling.xml [task_sampler.py: 797] +05/25 08:50:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3665, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:50:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:50:18 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/25 08:50:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:50:18 INFO: [Worker 0] Sampled task 'Pick up the cup' [task_sampler.py: 1136] +05/25 08:50:18 INFO: [Worker 0] Worker 0 house 3665 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:50:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:50:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:50:37 INFO: [Worker 0] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:50:40 INFO: [Worker 0] Batching and saving trajectory data for house_3665: 1 episodes [pipeline.py: 233] +05/25 08:50:40 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/25 08:50:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:50:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3665 [save_utils.py: 703] +05/25 08:50:43 INFO: [Worker 0] Successfully saved trajectory data for house_3665 in 2.41s (batch: 2.36s, save: 0.04s) [pipeline.py: 280] +05/25 08:50:43 WARNING: [Worker 0] No trajectory data to save for house_3665 [pipeline.py: 229] +05/25 08:50:43 INFO: [Worker 0] Worker 0 completed house 3665: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:50:43 INFO: [Worker 0] Worker 0 starting house 3723 (index 79/121) [pipeline.py: 473] +05/25 08:50:43 INFO: [Worker 0] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:50:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:50:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3723_ceiling.xml [task_sampler.py: 797] +05/25 08:50:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3723, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:50:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:50:45 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/25 08:50:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:50:45 INFO: [Worker 0] Sampled task 'Pick up the wooden pawn helmet' [task_sampler.py: 1136] +05/25 08:50:45 INFO: [Worker 0] Worker 0 house 3723 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:50:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:50:45 WARNING: [Worker 0] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene [object_manager.py: 1238] +05/25 08:50:45 WARNING: [Worker 0] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene [object_manager.py: 1238] +05/25 08:50:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:52:42 INFO: [Worker 0] Worker 0 house 3723 episode 0 object objadecorativepiece_e3bd19067e41447894a938d91c423301_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 08:52:46 INFO: [Worker 0] Batching and saving trajectory data for house_3723: 1 episodes [pipeline.py: 233] +05/25 08:52:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:52:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:52:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3723 [save_utils.py: 703] +05/25 08:52:49 INFO: [Worker 0] Successfully saved trajectory data for house_3723 in 2.94s (batch: 2.83s, save: 0.11s) [pipeline.py: 280] +05/25 08:52:50 WARNING: [Worker 0] No trajectory data to save for house_3723 [pipeline.py: 229] +05/25 08:52:50 INFO: [Worker 0] Worker 0 completed house 3723: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:52:50 INFO: [Worker 0] Worker 0 starting house 3761 (index 80/121) [pipeline.py: 473] +05/25 08:52:50 INFO: [Worker 0] Loaded 1 episodes for house 3761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:52:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:52:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3761_ceiling.xml [task_sampler.py: 797] +05/25 08:52:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3761, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:52:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:52:59 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 08:52:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:52:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:52:59 INFO: [Worker 0] Sampled task 'Pick up the green nozzle' [task_sampler.py: 1136] +05/25 08:52:59 INFO: [Worker 0] Worker 0 house 3761 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:52:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:53:54 INFO: [Worker 0] Worker 0 house 3761 episode 0 object objagardenhosenozzle_8a7488f4f48b4ebca57c0cb3d485c697_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:53:58 INFO: [Worker 0] Batching and saving trajectory data for house_3761: 1 episodes [pipeline.py: 233] +05/25 08:53:58 INFO: [Worker 0] Preparing episode data: 150 timesteps [save_utils.py: 284] +05/25 08:54:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:54:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3761 [save_utils.py: 703] +05/25 08:54:00 INFO: [Worker 0] Successfully saved trajectory data for house_3761 in 2.57s (batch: 2.50s, save: 0.06s) [pipeline.py: 280] +05/25 08:54:01 WARNING: [Worker 0] No trajectory data to save for house_3761 [pipeline.py: 229] +05/25 08:54:01 INFO: [Worker 0] Worker 0 completed house 3761: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:54:01 INFO: [Worker 0] Worker 0 starting house 3814 (index 81/121) [pipeline.py: 473] +05/25 08:54:01 INFO: [Worker 0] Loaded 1 episodes for house 3814 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:54:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:54:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3814_ceiling.xml [task_sampler.py: 797] +05/25 08:54:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3814, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:54:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:54:04 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/25 08:54:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:54:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:54:04 INFO: [Worker 0] Sampled task 'Pick up the glossy green apple' [task_sampler.py: 1136] +05/25 08:54:04 INFO: [Worker 0] Worker 0 house 3814 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:54:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:54:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:56:15 INFO: [Worker 0] Worker 0 house 3814 episode 0 object objaapple_db4defc696c349f5abe5a99d00abc9d4_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:56:19 INFO: [Worker 0] Batching and saving trajectory data for house_3814: 1 episodes [pipeline.py: 233] +05/25 08:56:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:56:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:56:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3814 [save_utils.py: 703] +05/25 08:56:21 INFO: [Worker 0] Successfully saved trajectory data for house_3814 in 2.83s (batch: 2.72s, save: 0.11s) [pipeline.py: 280] +05/25 08:56:22 WARNING: [Worker 0] No trajectory data to save for house_3814 [pipeline.py: 229] +05/25 08:56:22 INFO: [Worker 0] Worker 0 completed house 3814: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:56:22 INFO: [Worker 0] Worker 0 starting house 3846 (index 82/121) [pipeline.py: 473] +05/25 08:56:22 INFO: [Worker 0] Loaded 1 episodes for house 3846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:56:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:56:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3846_ceiling.xml [task_sampler.py: 797] +05/25 08:56:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3846, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:56:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:56:33 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/25 08:56:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:56:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:56:33 INFO: [Worker 0] Sampled task 'Pick up the black ergonomic mouse' [task_sampler.py: 1136] +05/25 08:56:33 INFO: [Worker 0] Worker 0 house 3846 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:56:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:56:33 WARNING: [Worker 0] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_8 in scene [object_manager.py: 1238] +05/25 08:56:33 WARNING: [Worker 0] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_8 in scene [object_manager.py: 1238] +05/25 08:59:05 INFO: [Worker 0] Worker 0 house 3846 episode 0 object objacomputermouse_f017c73a85484b6da3a66ec1cda70c71_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:59:09 INFO: [Worker 0] Batching and saving trajectory data for house_3846: 1 episodes [pipeline.py: 233] +05/25 08:59:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:59:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:59:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3846 [save_utils.py: 703] +05/25 08:59:12 INFO: [Worker 0] Successfully saved trajectory data for house_3846 in 2.82s (batch: 2.69s, save: 0.13s) [pipeline.py: 280] +05/25 08:59:12 WARNING: [Worker 0] No trajectory data to save for house_3846 [pipeline.py: 229] +05/25 08:59:12 INFO: [Worker 0] Worker 0 completed house 3846: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:59:12 INFO: [Worker 0] Worker 0 starting house 3877 (index 83/121) [pipeline.py: 473] +05/25 08:59:12 INFO: [Worker 0] Loaded 1 episodes for house 3877 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 08:59:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:59:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3877_ceiling.xml [task_sampler.py: 797] +05/25 08:59:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3877, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:59:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:59:18 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 08:59:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:59:18 INFO: [Worker 0] Sampled task 'Pick up the black graffiti grenade' [task_sampler.py: 1136] +05/25 08:59:18 INFO: [Worker 0] Worker 0 house 3877 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:59:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:59:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:01:39 INFO: [Worker 0] Worker 0 house 3877 episode 0 object objagrenade_55ba03e41ae84ee09f938f062bfe211b_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:01:42 INFO: [Worker 0] Batching and saving trajectory data for house_3877: 1 episodes [pipeline.py: 233] +05/25 09:01:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:01:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:01:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3877 [save_utils.py: 703] +05/25 09:01:45 INFO: [Worker 0] Successfully saved trajectory data for house_3877 in 2.98s (batch: 2.86s, save: 0.11s) [pipeline.py: 280] +05/25 09:01:46 WARNING: [Worker 0] No trajectory data to save for house_3877 [pipeline.py: 229] +05/25 09:01:46 INFO: [Worker 0] Worker 0 completed house 3877: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:01:46 INFO: [Worker 0] Worker 0 starting house 3899 (index 84/121) [pipeline.py: 473] +05/25 09:01:46 INFO: [Worker 0] Loaded 1 episodes for house 3899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:01:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:01:50 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:01:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3899_ceiling.xml [task_sampler.py: 797] +05/25 09:01:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3899, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:01:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:01:54 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/25 09:01:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:01:54 INFO: [Worker 0] Sampled task 'Pick up the realistic pink gums dentures' [task_sampler.py: 1136] +05/25 09:01:54 INFO: [Worker 0] Worker 0 house 3899 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:01:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:01:54 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene [object_manager.py: 1238] +05/25 09:01:54 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene [object_manager.py: 1238] +05/25 09:01:54 WARNING: [Worker 0] Could not find object objacableorganizer_10fc66b44e6a4f1f84c170a4acbd02ba_1_0_5 in scene [object_manager.py: 1238] +05/25 09:01:54 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene [object_manager.py: 1238] +05/25 09:01:54 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/25 09:01:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:04:03 INFO: [Worker 0] Worker 0 house 3899 episode 0 object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:04:07 INFO: [Worker 0] Batching and saving trajectory data for house_3899: 1 episodes [pipeline.py: 233] +05/25 09:04:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:04:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:04:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3899 [save_utils.py: 703] +05/25 09:04:09 INFO: [Worker 0] Successfully saved trajectory data for house_3899 in 2.81s (batch: 2.70s, save: 0.11s) [pipeline.py: 280] +05/25 09:04:10 WARNING: [Worker 0] No trajectory data to save for house_3899 [pipeline.py: 229] +05/25 09:04:10 INFO: [Worker 0] Worker 0 completed house 3899: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:04:10 INFO: [Worker 0] Worker 0 starting house 3918 (index 85/121) [pipeline.py: 473] +05/25 09:04:10 INFO: [Worker 0] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:04:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:04:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3918_ceiling.xml [task_sampler.py: 797] +05/25 09:04:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3918, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:04:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:04:14 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 09:04:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:04:14 INFO: [Worker 0] Sampled task 'Pick up the white aerosol can with rusted top' [task_sampler.py: 1136] +05/25 09:04:14 INFO: [Worker 0] Worker 0 house 3918 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:04:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:04:15 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene [object_manager.py: 1238] +05/25 09:04:15 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/25 09:04:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:06:13 INFO: [Worker 0] Worker 0 house 3918 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 09:06:16 INFO: [Worker 0] Batching and saving trajectory data for house_3918: 1 episodes [pipeline.py: 233] +05/25 09:06:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:06:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:06:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3918 [save_utils.py: 703] +05/25 09:06:19 INFO: [Worker 0] Successfully saved trajectory data for house_3918 in 2.92s (batch: 2.81s, save: 0.11s) [pipeline.py: 280] +05/25 09:06:20 WARNING: [Worker 0] No trajectory data to save for house_3918 [pipeline.py: 229] +05/25 09:06:20 INFO: [Worker 0] Worker 0 completed house 3918: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:06:20 INFO: [Worker 0] Worker 0 starting house 3965 (index 86/121) [pipeline.py: 473] +05/25 09:06:20 INFO: [Worker 0] Loaded 1 episodes for house 3965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:06:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:06:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3965_ceiling.xml [task_sampler.py: 797] +05/25 09:06:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3965, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:06:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:06:22 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects [json_eval_task_sampler.py: 686] +05/25 09:06:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:06:22 INFO: [Worker 0] Sampled task 'Pick up the red traditional fierce mask' [task_sampler.py: 1136] +05/25 09:06:22 INFO: [Worker 0] Worker 0 house 3965 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:06:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:06:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:06:39 INFO: [Worker 0] Worker 0 house 3965 episode 0 object objanohmask_b40fb0a2596f4981978f3e13e1c4fa83_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 09:06:42 INFO: [Worker 0] Batching and saving trajectory data for house_3965: 1 episodes [pipeline.py: 233] +05/25 09:06:42 INFO: [Worker 0] Preparing episode data: 80 timesteps [save_utils.py: 284] +05/25 09:06:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:06:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3965 [save_utils.py: 703] +05/25 09:06:45 INFO: [Worker 0] Successfully saved trajectory data for house_3965 in 2.37s (batch: 2.32s, save: 0.05s) [pipeline.py: 280] +05/25 09:06:45 WARNING: [Worker 0] No trajectory data to save for house_3965 [pipeline.py: 229] +05/25 09:06:45 INFO: [Worker 0] Worker 0 completed house 3965: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:06:45 INFO: [Worker 0] Worker 0 starting house 3998 (index 87/121) [pipeline.py: 473] +05/25 09:06:45 INFO: [Worker 0] Loaded 1 episodes for house 3998 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:06:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:06:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3998_ceiling.xml [task_sampler.py: 797] +05/25 09:06:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3998, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:06:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:06:47 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/25 09:06:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:06:47 INFO: [Worker 0] Sampled task 'Pick up the bar soap' [task_sampler.py: 1136] +05/25 09:06:47 INFO: [Worker 0] Worker 0 house 3998 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:06:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:06:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:08:37 INFO: [Worker 0] Worker 0 house 3998 episode 0 object objasoap_5df52b78e98c4885bf45a4c6fd76cfd6_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:08:41 INFO: [Worker 0] Batching and saving trajectory data for house_3998: 1 episodes [pipeline.py: 233] +05/25 09:08:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:08:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:08:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3998 [save_utils.py: 703] +05/25 09:08:44 INFO: [Worker 0] Successfully saved trajectory data for house_3998 in 2.91s (batch: 2.80s, save: 0.11s) [pipeline.py: 280] +05/25 09:08:44 WARNING: [Worker 0] No trajectory data to save for house_3998 [pipeline.py: 229] +05/25 09:08:44 INFO: [Worker 0] Worker 0 completed house 3998: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:08:44 INFO: [Worker 0] Worker 0 starting house 4032 (index 88/121) [pipeline.py: 473] +05/25 09:08:44 INFO: [Worker 0] Loaded 1 episodes for house 4032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:08:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:08:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4032_ceiling.xml [task_sampler.py: 797] +05/25 09:08:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4032, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:08:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:08:52 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 09:08:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:08:52 INFO: [Worker 0] Sampled task 'Pick up the cream and pink box with branding' [task_sampler.py: 1136] +05/25 09:08:52 INFO: [Worker 0] Worker 0 house 4032 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:08:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:08:52 WARNING: [Worker 0] Could not find object objaeducationalposter_87bcea3b8fe4423ea094501dee33da1e_1_0_8 in scene [object_manager.py: 1238] +05/25 09:08:52 WARNING: [Worker 0] Could not find object cup_76578ead9f14d0b2b3be33d684f6a9e0_1_0_8 in scene [object_manager.py: 1238] +05/25 09:10:52 INFO: [Worker 0] Worker 0 house 4032 episode 0 object objapackaging_2463f68deba24beb98ca96d209f91468_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 09:10:56 INFO: [Worker 0] Batching and saving trajectory data for house_4032: 1 episodes [pipeline.py: 233] +05/25 09:10:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:10:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:10:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4032 [save_utils.py: 703] +05/25 09:10:59 INFO: [Worker 0] Successfully saved trajectory data for house_4032 in 2.62s (batch: 2.52s, save: 0.10s) [pipeline.py: 280] +05/25 09:10:59 WARNING: [Worker 0] No trajectory data to save for house_4032 [pipeline.py: 229] +05/25 09:10:59 INFO: [Worker 0] Worker 0 completed house 4032: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:10:59 INFO: [Worker 0] Worker 0 starting house 4086 (index 89/121) [pipeline.py: 473] +05/25 09:10:59 INFO: [Worker 0] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:10:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:11:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4086_ceiling.xml [task_sampler.py: 797] +05/25 09:11:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4086, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:11:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:11:03 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 09:11:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:11:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:11:03 INFO: [Worker 0] Sampled task 'Pick up the cupcake with frosting' [task_sampler.py: 1136] +05/25 09:11:03 INFO: [Worker 0] Worker 0 house 4086 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:11:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:12:53 INFO: [Worker 0] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 09:12:57 INFO: [Worker 0] Batching and saving trajectory data for house_4086: 1 episodes [pipeline.py: 233] +05/25 09:12:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:13:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:13:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4086 [save_utils.py: 703] +05/25 09:13:00 INFO: [Worker 0] Successfully saved trajectory data for house_4086 in 2.77s (batch: 2.67s, save: 0.10s) [pipeline.py: 280] +05/25 09:13:00 WARNING: [Worker 0] No trajectory data to save for house_4086 [pipeline.py: 229] +05/25 09:13:00 INFO: [Worker 0] Worker 0 completed house 4086: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:13:00 INFO: [Worker 0] Worker 0 starting house 4148 (index 90/121) [pipeline.py: 473] +05/25 09:13:00 INFO: [Worker 0] Loaded 1 episodes for house 4148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:13:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:13:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4148_ceiling.xml [task_sampler.py: 797] +05/25 09:13:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:13:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:13:08 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 09:13:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:13:08 INFO: [Worker 0] Sampled task 'Pick up the colored cube' [task_sampler.py: 1136] +05/25 09:13:08 INFO: [Worker 0] Worker 0 house 4148 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:13:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:14:14 INFO: [Worker 0] Worker 0 house 4148 episode 0 object objapuzzletoy_854a432ad32a4a51a503b865b010b3ca_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 09:14:18 INFO: [Worker 0] Batching and saving trajectory data for house_4148: 1 episodes [pipeline.py: 233] +05/25 09:14:18 INFO: [Worker 0] Preparing episode data: 197 timesteps [save_utils.py: 284] +05/25 09:14:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:14:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4148 [save_utils.py: 703] +05/25 09:14:20 INFO: [Worker 0] Successfully saved trajectory data for house_4148 in 2.56s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/25 09:14:21 WARNING: [Worker 0] No trajectory data to save for house_4148 [pipeline.py: 229] +05/25 09:14:21 INFO: [Worker 0] Worker 0 completed house 4148: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:14:21 INFO: [Worker 0] Worker 0 starting house 4188 (index 91/121) [pipeline.py: 473] +05/25 09:14:21 INFO: [Worker 0] Loaded 1 episodes for house 4188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:14:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:14:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4188_ceiling.xml [task_sampler.py: 797] +05/25 09:14:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4188, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:14:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:14:28 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/25 09:14:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:14:29 INFO: [Worker 0] Sampled task 'Pick up the pickleballpaddle' [task_sampler.py: 1136] +05/25 09:14:29 INFO: [Worker 0] Worker 0 house 4188 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:14:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:14:29 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene [object_manager.py: 1238] +05/25 09:14:29 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_7 in scene [object_manager.py: 1238] +05/25 09:14:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:16:44 INFO: [Worker 0] Worker 0 house 4188 episode 0 object objapickleballpaddle_4b1450f846db43a7a5721afb29b8d86c_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:16:48 INFO: [Worker 0] Batching and saving trajectory data for house_4188: 1 episodes [pipeline.py: 233] +05/25 09:16:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:16:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:16:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4188 [save_utils.py: 703] +05/25 09:16:51 INFO: [Worker 0] Successfully saved trajectory data for house_4188 in 3.02s (batch: 2.87s, save: 0.14s) [pipeline.py: 280] +05/25 09:16:51 WARNING: [Worker 0] No trajectory data to save for house_4188 [pipeline.py: 229] +05/25 09:16:51 INFO: [Worker 0] Worker 0 completed house 4188: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:16:51 INFO: [Worker 0] Worker 0 starting house 4240 (index 92/121) [pipeline.py: 473] +05/25 09:16:51 INFO: [Worker 0] Loaded 1 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:16:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:16:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4240_ceiling.xml [task_sampler.py: 797] +05/25 09:16:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4240, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:16:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:16:58 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 09:16:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:16:58 INFO: [Worker 0] Sampled task 'Pick up the black ribbed cylindrical plastic cap' [task_sampler.py: 1136] +05/25 09:16:58 INFO: [Worker 0] Worker 0 house 4240 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:16:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:16:58 WARNING: [Worker 0] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene [object_manager.py: 1238] +05/25 09:18:54 INFO: [Worker 0] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 09:18:58 INFO: [Worker 0] Batching and saving trajectory data for house_4240: 1 episodes [pipeline.py: 233] +05/25 09:18:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:19:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:19:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4240 [save_utils.py: 703] +05/25 09:19:01 INFO: [Worker 0] Successfully saved trajectory data for house_4240 in 2.70s (batch: 2.60s, save: 0.11s) [pipeline.py: 280] +05/25 09:19:01 WARNING: [Worker 0] No trajectory data to save for house_4240 [pipeline.py: 229] +05/25 09:19:01 INFO: [Worker 0] Worker 0 completed house 4240: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:19:01 INFO: [Worker 0] Worker 0 starting house 4290 (index 93/121) [pipeline.py: 473] +05/25 09:19:02 INFO: [Worker 0] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:19:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:19:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4290_ceiling.xml [task_sampler.py: 797] +05/25 09:19:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4290, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:19:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:19:11 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/25 09:19:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:19:11 INFO: [Worker 0] Sampled task 'Pick up the purple toy blaster' [task_sampler.py: 1136] +05/25 09:19:11 INFO: [Worker 0] Worker 0 house 4290 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:19:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:19:11 WARNING: [Worker 0] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene [object_manager.py: 1238] +05/25 09:19:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:21:42 INFO: [Worker 0] Worker 0 house 4290 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:21:45 INFO: [Worker 0] Batching and saving trajectory data for house_4290: 1 episodes [pipeline.py: 233] +05/25 09:21:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:21:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:21:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4290 [save_utils.py: 703] +05/25 09:21:48 INFO: [Worker 0] Successfully saved trajectory data for house_4290 in 2.82s (batch: 2.69s, save: 0.13s) [pipeline.py: 280] +05/25 09:21:49 WARNING: [Worker 0] No trajectory data to save for house_4290 [pipeline.py: 229] +05/25 09:21:49 INFO: [Worker 0] Worker 0 completed house 4290: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:21:49 INFO: [Worker 0] Worker 0 starting house 4335 (index 94/121) [pipeline.py: 473] +05/25 09:21:49 INFO: [Worker 0] Loaded 1 episodes for house 4335 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:21:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:21:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4335_ceiling.xml [task_sampler.py: 797] +05/25 09:21:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4335, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:21:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:21:55 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/25 09:21:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:21:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:21:55 INFO: [Worker 0] Sampled task 'Pick up the rectangular packaged chocolate cake with strawberry' [task_sampler.py: 1136] +05/25 09:21:55 INFO: [Worker 0] Worker 0 house 4335 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:21:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:24:21 INFO: [Worker 0] Worker 0 house 4335 episode 0 object objapackagedfood_e93712a57d6946fdab4622c3d62ababc_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 09:24:25 INFO: [Worker 0] Batching and saving trajectory data for house_4335: 1 episodes [pipeline.py: 233] +05/25 09:24:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:24:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:24:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4335 [save_utils.py: 703] +05/25 09:24:28 INFO: [Worker 0] Successfully saved trajectory data for house_4335 in 2.85s (batch: 2.75s, save: 0.10s) [pipeline.py: 280] +05/25 09:24:29 WARNING: [Worker 0] No trajectory data to save for house_4335 [pipeline.py: 229] +05/25 09:24:29 INFO: [Worker 0] Worker 0 completed house 4335: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:24:29 INFO: [Worker 0] Worker 0 starting house 4398 (index 95/121) [pipeline.py: 473] +05/25 09:24:29 INFO: [Worker 0] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:24:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:24:29 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:24:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4398_ceiling.xml [task_sampler.py: 797] +05/25 09:24:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4398, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:24:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:24:31 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 09:24:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:24:31 INFO: [Worker 0] Sampled task 'Pick up the black and red pixelated figure' [task_sampler.py: 1136] +05/25 09:24:31 INFO: [Worker 0] Worker 0 house 4398 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:24:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:24:31 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene [object_manager.py: 1238] +05/25 09:26:16 INFO: [Worker 0] Worker 0 house 4398 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_2_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:26:20 INFO: [Worker 0] Batching and saving trajectory data for house_4398: 1 episodes [pipeline.py: 233] +05/25 09:26:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:26:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4398 [save_utils.py: 703] +05/25 09:26:22 INFO: [Worker 0] Successfully saved trajectory data for house_4398 in 2.64s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/25 09:26:23 WARNING: [Worker 0] No trajectory data to save for house_4398 [pipeline.py: 229] +05/25 09:26:23 INFO: [Worker 0] Worker 0 completed house 4398: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:26:23 INFO: [Worker 0] Worker 0 starting house 4444 (index 96/121) [pipeline.py: 473] +05/25 09:26:23 INFO: [Worker 0] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:26:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:26:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4444_ceiling.xml [task_sampler.py: 797] +05/25 09:26:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4444, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:26:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:26:31 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 09:26:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:26:31 INFO: [Worker 0] Sampled task 'Pick up the wooden telegraph' [task_sampler.py: 1136] +05/25 09:26:31 INFO: [Worker 0] Worker 0 house 4444 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:26:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:26:31 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/25 09:26:31 WARNING: [Worker 0] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene [object_manager.py: 1238] +05/25 09:26:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:28:44 INFO: [Worker 0] Worker 0 house 4444 episode 0 object objatelegraphkey_a5b108e3132d46b696c36310c2314ed8_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:28:47 INFO: [Worker 0] Batching and saving trajectory data for house_4444: 1 episodes [pipeline.py: 233] +05/25 09:28:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:28:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:28:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4444 [save_utils.py: 703] +05/25 09:28:50 INFO: [Worker 0] Successfully saved trajectory data for house_4444 in 2.85s (batch: 2.74s, save: 0.11s) [pipeline.py: 280] +05/25 09:28:51 WARNING: [Worker 0] No trajectory data to save for house_4444 [pipeline.py: 229] +05/25 09:28:51 INFO: [Worker 0] Worker 0 completed house 4444: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:28:51 INFO: [Worker 0] Worker 0 starting house 4495 (index 97/121) [pipeline.py: 473] +05/25 09:28:51 INFO: [Worker 0] Loaded 1 episodes for house 4495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:28:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:28:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4495_ceiling.xml [task_sampler.py: 797] +05/25 09:28:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4495, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:28:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:28:54 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/25 09:28:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:28:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:28:54 INFO: [Worker 0] Sampled task 'Pick up the metal kettle' [task_sampler.py: 1136] +05/25 09:28:54 INFO: [Worker 0] Worker 0 house 4495 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:28:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:30:38 INFO: [Worker 0] Worker 0 house 4495 episode 0 object objakettle_153cd8b6d4094e9c95a4c3addbeb118c_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:30:42 INFO: [Worker 0] Batching and saving trajectory data for house_4495: 1 episodes [pipeline.py: 233] +05/25 09:30:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:30:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:30:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4495 [save_utils.py: 703] +05/25 09:30:45 INFO: [Worker 0] Successfully saved trajectory data for house_4495 in 2.91s (batch: 2.81s, save: 0.10s) [pipeline.py: 280] +05/25 09:30:46 WARNING: [Worker 0] No trajectory data to save for house_4495 [pipeline.py: 229] +05/25 09:30:46 INFO: [Worker 0] Worker 0 completed house 4495: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:30:46 INFO: [Worker 0] Worker 0 starting house 4536 (index 98/121) [pipeline.py: 473] +05/25 09:30:46 INFO: [Worker 0] Loaded 1 episodes for house 4536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:30:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:30:49 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:30:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4536_ceiling.xml [task_sampler.py: 797] +05/25 09:30:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4536, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:30:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:30:53 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 09:30:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:30:54 INFO: [Worker 0] Sampled task 'Pick up the purple serum bottle' [task_sampler.py: 1136] +05/25 09:30:54 INFO: [Worker 0] Worker 0 house 4536 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:30:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:30:54 WARNING: [Worker 0] Could not find object cellulartelephone_8c2887320948bf2580f27f36caf806e5_1_0_6 in scene [object_manager.py: 1238] +05/25 09:30:54 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_7 in scene [object_manager.py: 1238] +05/25 09:30:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:33:20 INFO: [Worker 0] Worker 0 house 4536 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 09:33:24 INFO: [Worker 0] Batching and saving trajectory data for house_4536: 1 episodes [pipeline.py: 233] +05/25 09:33:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:33:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:33:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4536 [save_utils.py: 703] +05/25 09:33:27 INFO: [Worker 0] Successfully saved trajectory data for house_4536 in 3.17s (batch: 3.04s, save: 0.13s) [pipeline.py: 280] +05/25 09:33:28 WARNING: [Worker 0] No trajectory data to save for house_4536 [pipeline.py: 229] +05/25 09:33:28 INFO: [Worker 0] Worker 0 completed house 4536: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:33:28 INFO: [Worker 0] Worker 0 starting house 4571 (index 99/121) [pipeline.py: 473] +05/25 09:33:28 INFO: [Worker 0] Loaded 1 episodes for house 4571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:33:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:33:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4571_ceiling.xml [task_sampler.py: 797] +05/25 09:33:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4571, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:33:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:33:34 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 09:33:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:33:34 INFO: [Worker 0] Sampled task 'Pick up the flat tip screwdriver' [task_sampler.py: 1136] +05/25 09:33:34 INFO: [Worker 0] Worker 0 house 4571 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:33:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:35:51 INFO: [Worker 0] Worker 0 house 4571 episode 0 object objascrewdriver_379c730e677b4a5993603d8ec625f10b_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 09:35:54 INFO: [Worker 0] Batching and saving trajectory data for house_4571: 1 episodes [pipeline.py: 233] +05/25 09:35:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:35:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4571 [save_utils.py: 703] +05/25 09:35:57 INFO: [Worker 0] Successfully saved trajectory data for house_4571 in 2.89s (batch: 2.74s, save: 0.15s) [pipeline.py: 280] +05/25 09:35:58 WARNING: [Worker 0] No trajectory data to save for house_4571 [pipeline.py: 229] +05/25 09:35:58 INFO: [Worker 0] Worker 0 completed house 4571: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:35:58 INFO: [Worker 0] Worker 0 starting house 4623 (index 100/121) [pipeline.py: 473] +05/25 09:35:58 INFO: [Worker 0] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:35:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:36:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4623_ceiling.xml [task_sampler.py: 797] +05/25 09:36:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4623, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:36:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:36:10 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects [json_eval_task_sampler.py: 686] +05/25 09:36:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:36:10 INFO: [Worker 0] Sampled task 'Pick up the miniaturewindmill' [task_sampler.py: 1136] +05/25 09:36:10 INFO: [Worker 0] Worker 0 house 4623 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:36:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:38:52 INFO: [Worker 0] Worker 0 house 4623 episode 0 object objaminiaturewindmill_429be92f26d64734b562e42f440aa81f_2_0_8 completed with success=False [pipeline.py: 1114] +05/25 09:38:56 INFO: [Worker 0] Batching and saving trajectory data for house_4623: 1 episodes [pipeline.py: 233] +05/25 09:38:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:38:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4623 [save_utils.py: 703] +05/25 09:38:59 INFO: [Worker 0] Successfully saved trajectory data for house_4623 in 2.99s (batch: 2.83s, save: 0.17s) [pipeline.py: 280] +05/25 09:39:00 WARNING: [Worker 0] No trajectory data to save for house_4623 [pipeline.py: 229] +05/25 09:39:00 INFO: [Worker 0] Worker 0 completed house 4623: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:39:00 INFO: [Worker 0] Worker 0 starting house 4706 (index 101/121) [pipeline.py: 473] +05/25 09:39:00 INFO: [Worker 0] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:39:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:39:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4706_ceiling.xml [task_sampler.py: 797] +05/25 09:39:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4706, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:39:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:39:09 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 09:39:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:39:09 INFO: [Worker 0] Sampled task 'Pick up the orange rectangular whistle' [task_sampler.py: 1136] +05/25 09:39:09 INFO: [Worker 0] Worker 0 house 4706 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:39:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:39:09 WARNING: [Worker 0] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene [object_manager.py: 1238] +05/25 09:39:09 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/25 09:39:09 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/25 09:39:09 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene [object_manager.py: 1238] +05/25 09:39:09 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene [object_manager.py: 1238] +05/25 09:39:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:41:30 INFO: [Worker 0] Worker 0 house 4706 episode 0 object objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 09:41:34 INFO: [Worker 0] Batching and saving trajectory data for house_4706: 1 episodes [pipeline.py: 233] +05/25 09:41:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:41:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4706 [save_utils.py: 703] +05/25 09:41:37 INFO: [Worker 0] Successfully saved trajectory data for house_4706 in 2.85s (batch: 2.72s, save: 0.13s) [pipeline.py: 280] +05/25 09:41:37 WARNING: [Worker 0] No trajectory data to save for house_4706 [pipeline.py: 229] +05/25 09:41:37 INFO: [Worker 0] Worker 0 completed house 4706: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:41:37 INFO: [Worker 0] Worker 0 starting house 4757 (index 102/121) [pipeline.py: 473] +05/25 09:41:37 INFO: [Worker 0] Loaded 1 episodes for house 4757 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:41:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:41:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4757_ceiling.xml [task_sampler.py: 797] +05/25 09:41:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4757, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:41:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:41:43 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 09:41:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:41:43 INFO: [Worker 0] Sampled task 'Pick up the paper nailed to wooden post' [task_sampler.py: 1136] +05/25 09:41:43 INFO: [Worker 0] Worker 0 house 4757 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:41:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:41:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:43:32 INFO: [Worker 0] Worker 0 house 4757 episode 0 object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 09:43:35 INFO: [Worker 0] Batching and saving trajectory data for house_4757: 1 episodes [pipeline.py: 233] +05/25 09:43:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:43:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:43:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4757 [save_utils.py: 703] +05/25 09:43:38 INFO: [Worker 0] Successfully saved trajectory data for house_4757 in 2.62s (batch: 2.52s, save: 0.10s) [pipeline.py: 280] +05/25 09:43:38 WARNING: [Worker 0] No trajectory data to save for house_4757 [pipeline.py: 229] +05/25 09:43:38 INFO: [Worker 0] Worker 0 completed house 4757: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:43:38 INFO: [Worker 0] Worker 0 starting house 4807 (index 103/121) [pipeline.py: 473] +05/25 09:43:38 INFO: [Worker 0] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:43:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:43:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4807_ceiling.xml [task_sampler.py: 797] +05/25 09:43:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4807, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:43:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:43:41 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/25 09:43:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:43:41 INFO: [Worker 0] Sampled task 'Pick up the brown wooden yo-yo' [task_sampler.py: 1136] +05/25 09:43:41 INFO: [Worker 0] Worker 0 house 4807 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:43:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:43:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:43:56 INFO: [Worker 0] Worker 0 house 4807 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 09:43:59 INFO: [Worker 0] Batching and saving trajectory data for house_4807: 1 episodes [pipeline.py: 233] +05/25 09:43:59 INFO: [Worker 0] Preparing episode data: 70 timesteps [save_utils.py: 284] +05/25 09:44:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:44:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4807 [save_utils.py: 703] +05/25 09:44:02 INFO: [Worker 0] Successfully saved trajectory data for house_4807 in 2.42s (batch: 2.37s, save: 0.04s) [pipeline.py: 280] +05/25 09:44:02 WARNING: [Worker 0] No trajectory data to save for house_4807 [pipeline.py: 229] +05/25 09:44:02 INFO: [Worker 0] Worker 0 completed house 4807: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:44:02 INFO: [Worker 0] Worker 0 starting house 4837 (index 104/121) [pipeline.py: 473] +05/25 09:44:02 INFO: [Worker 0] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:44:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:44:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4837_ceiling.xml [task_sampler.py: 797] +05/25 09:44:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4837, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:44:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:44:08 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 09:44:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:44:08 INFO: [Worker 0] Sampled task 'Pick up the black collar with spikes' [task_sampler.py: 1136] +05/25 09:44:08 INFO: [Worker 0] Worker 0 house 4837 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 09:44:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:44:08 WARNING: [Worker 0] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene [object_manager.py: 1238] +05/25 09:44:08 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene [object_manager.py: 1238] +05/25 09:46:33 INFO: [Worker 0] Worker 0 house 4837 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:46:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:46:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4837_ceiling.xml [task_sampler.py: 797] +05/25 09:46:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4837, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:46:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:46:43 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 09:46:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:46:43 INFO: [Worker 0] Sampled task 'Pick up the orange diamond gem' [task_sampler.py: 1136] +05/25 09:46:43 INFO: [Worker 0] Worker 0 house 4837 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 09:46:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:46:43 WARNING: [Worker 0] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene [object_manager.py: 1238] +05/25 09:46:43 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene [object_manager.py: 1238] +05/25 09:46:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:48:36 INFO: [Worker 0] Worker 0 house 4837 episode 1 object objagem_51446bf7bc5a486abb1475f15eac6f64_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 09:48:39 INFO: [Worker 0] Batching and saving trajectory data for house_4837: 2 episodes [pipeline.py: 233] +05/25 09:48:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:48:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:48:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:48:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:48:45 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4837 [save_utils.py: 703] +05/25 09:48:45 INFO: [Worker 0] Successfully saved trajectory data for house_4837 in 5.21s (batch: 5.01s, save: 0.20s) [pipeline.py: 280] +05/25 09:48:46 WARNING: [Worker 0] No trajectory data to save for house_4837 [pipeline.py: 229] +05/25 09:48:46 INFO: [Worker 0] Worker 0 completed house 4837: 0/2 successful episodes [pipeline.py: 1243] +05/25 09:48:46 INFO: [Worker 0] Worker 0 starting house 4853 (index 105/121) [pipeline.py: 473] +05/25 09:48:46 INFO: [Worker 0] Loaded 1 episodes for house 4853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:48:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:48:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4853_ceiling.xml [task_sampler.py: 797] +05/25 09:48:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4853, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:48:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:48:47 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 09:48:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:48:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:48:47 INFO: [Worker 0] Sampled task 'Pick up the mechanicalmodel' [task_sampler.py: 1136] +05/25 09:48:47 INFO: [Worker 0] Worker 0 house 4853 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:48:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:48:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:48:59 INFO: [Worker 0] Worker 0 house 4853 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 09:49:02 INFO: [Worker 0] Batching and saving trajectory data for house_4853: 1 episodes [pipeline.py: 233] +05/25 09:49:02 INFO: [Worker 0] Preparing episode data: 54 timesteps [save_utils.py: 284] +05/25 09:49:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:49:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4853 [save_utils.py: 703] +05/25 09:49:05 INFO: [Worker 0] Successfully saved trajectory data for house_4853 in 2.31s (batch: 2.27s, save: 0.04s) [pipeline.py: 280] +05/25 09:49:05 WARNING: [Worker 0] No trajectory data to save for house_4853 [pipeline.py: 229] +05/25 09:49:05 INFO: [Worker 0] Worker 0 completed house 4853: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:49:05 INFO: [Worker 0] Worker 0 starting house 4902 (index 106/121) [pipeline.py: 473] +05/25 09:49:05 INFO: [Worker 0] Loaded 1 episodes for house 4902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:49:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:49:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4902_ceiling.xml [task_sampler.py: 797] +05/25 09:49:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4902, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:49:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:49:14 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/25 09:49:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:49:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:49:14 INFO: [Worker 0] Sampled task 'Pick up the black and silver rtx 3080 graphics card' [task_sampler.py: 1136] +05/25 09:49:14 INFO: [Worker 0] Worker 0 house 4902 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:49:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:49:14 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_9 in scene [object_manager.py: 1238] +05/25 09:49:14 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_9 in scene [object_manager.py: 1238] +05/25 09:49:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:52:23 INFO: [Worker 0] Worker 0 house 4902 episode 0 object objagraphicscard_21a315ccf5a345efbcb94fe50a83a1b9_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 09:52:27 INFO: [Worker 0] Batching and saving trajectory data for house_4902: 1 episodes [pipeline.py: 233] +05/25 09:52:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:52:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4902 [save_utils.py: 703] +05/25 09:52:30 INFO: [Worker 0] Successfully saved trajectory data for house_4902 in 2.96s (batch: 2.84s, save: 0.13s) [pipeline.py: 280] +05/25 09:52:30 WARNING: [Worker 0] No trajectory data to save for house_4902 [pipeline.py: 229] +05/25 09:52:30 INFO: [Worker 0] Worker 0 completed house 4902: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:52:30 INFO: [Worker 0] Worker 0 starting house 4954 (index 107/121) [pipeline.py: 473] +05/25 09:52:30 INFO: [Worker 0] Loaded 1 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:52:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:52:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4954_ceiling.xml [task_sampler.py: 797] +05/25 09:52:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4954, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:52:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:52:38 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 09:52:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:52:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:52:38 INFO: [Worker 0] Sampled task 'Pick up the metal lever on base' [task_sampler.py: 1136] +05/25 09:52:38 INFO: [Worker 0] Worker 0 house 4954 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:52:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:52:38 WARNING: [Worker 0] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene [object_manager.py: 1238] +05/25 09:52:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:53:00 INFO: [Worker 0] Worker 0 house 4954 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 09:53:04 INFO: [Worker 0] Batching and saving trajectory data for house_4954: 1 episodes [pipeline.py: 233] +05/25 09:53:04 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/25 09:53:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:53:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4954 [save_utils.py: 703] +05/25 09:53:06 INFO: [Worker 0] Successfully saved trajectory data for house_4954 in 2.52s (batch: 2.47s, save: 0.05s) [pipeline.py: 280] +05/25 09:53:07 WARNING: [Worker 0] No trajectory data to save for house_4954 [pipeline.py: 229] +05/25 09:53:07 INFO: [Worker 0] Worker 0 completed house 4954: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:53:07 INFO: [Worker 0] Worker 0 starting house 4992 (index 108/121) [pipeline.py: 473] +05/25 09:53:07 INFO: [Worker 0] Loaded 1 episodes for house 4992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:53:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:53:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4992_ceiling.xml [task_sampler.py: 797] +05/25 09:53:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4992, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:53:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:53:12 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 09:53:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:53:12 INFO: [Worker 0] Sampled task 'Pick up the yellow wooden pencil' [task_sampler.py: 1136] +05/25 09:53:12 INFO: [Worker 0] Worker 0 house 4992 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:53:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:53:12 WARNING: [Worker 0] Could not find object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_6 in scene [object_manager.py: 1238] +05/25 09:53:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:55:07 INFO: [Worker 0] Worker 0 house 4992 episode 0 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:55:11 INFO: [Worker 0] Batching and saving trajectory data for house_4992: 1 episodes [pipeline.py: 233] +05/25 09:55:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:55:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:55:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4992 [save_utils.py: 703] +05/25 09:55:14 INFO: [Worker 0] Successfully saved trajectory data for house_4992 in 2.90s (batch: 2.79s, save: 0.11s) [pipeline.py: 280] +05/25 09:55:15 WARNING: [Worker 0] No trajectory data to save for house_4992 [pipeline.py: 229] +05/25 09:55:15 INFO: [Worker 0] Worker 0 completed house 4992: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:55:15 INFO: [Worker 0] Worker 0 starting house 5020 (index 109/121) [pipeline.py: 473] +05/25 09:55:15 INFO: [Worker 0] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:55:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:55:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5020_ceiling.xml [task_sampler.py: 797] +05/25 09:55:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5020, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:55:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:55:21 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 09:55:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:55:21 INFO: [Worker 0] Sampled task 'Pick up the wooden chisel with blade' [task_sampler.py: 1136] +05/25 09:55:21 INFO: [Worker 0] Worker 0 house 5020 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:55:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:57:33 INFO: [Worker 0] Worker 0 house 5020 episode 0 object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:57:36 INFO: [Worker 0] Batching and saving trajectory data for house_5020: 1 episodes [pipeline.py: 233] +05/25 09:57:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:57:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:57:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5020 [save_utils.py: 703] +05/25 09:57:39 INFO: [Worker 0] Successfully saved trajectory data for house_5020 in 2.84s (batch: 2.74s, save: 0.10s) [pipeline.py: 280] +05/25 09:57:40 WARNING: [Worker 0] No trajectory data to save for house_5020 [pipeline.py: 229] +05/25 09:57:40 INFO: [Worker 0] Worker 0 completed house 5020: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:57:40 INFO: [Worker 0] Worker 0 starting house 5059 (index 110/121) [pipeline.py: 473] +05/25 09:57:40 INFO: [Worker 0] Loaded 1 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 09:57:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:57:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5059_ceiling.xml [task_sampler.py: 797] +05/25 09:57:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5059, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:57:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:57:45 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 09:57:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:57:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:57:45 INFO: [Worker 0] Sampled task 'Pick up the network switch' [task_sampler.py: 1136] +05/25 09:57:45 INFO: [Worker 0] Worker 0 house 5059 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:57:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:59:59 INFO: [Worker 0] Worker 0 house 5059 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 10:00:03 INFO: [Worker 0] Batching and saving trajectory data for house_5059: 1 episodes [pipeline.py: 233] +05/25 10:00:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:00:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:00:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5059 [save_utils.py: 703] +05/25 10:00:06 INFO: [Worker 0] Successfully saved trajectory data for house_5059 in 3.03s (batch: 2.93s, save: 0.11s) [pipeline.py: 280] +05/25 10:00:07 WARNING: [Worker 0] No trajectory data to save for house_5059 [pipeline.py: 229] +05/25 10:00:07 INFO: [Worker 0] Worker 0 completed house 5059: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:00:07 INFO: [Worker 0] Worker 0 starting house 5118 (index 111/121) [pipeline.py: 473] +05/25 10:00:07 INFO: [Worker 0] Loaded 1 episodes for house 5118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:00:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:00:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5118_ceiling.xml [task_sampler.py: 797] +05/25 10:00:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5118, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:00:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:00:16 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/25 10:00:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:00:17 INFO: [Worker 0] Sampled task 'Pick up the photographic camera' [task_sampler.py: 1136] +05/25 10:00:17 INFO: [Worker 0] Worker 0 house 5118 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:00:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:02:50 INFO: [Worker 0] Worker 0 house 5118 episode 0 object objadigitalcamera_c8c3f307e93f4c829d579d1b369e6b02_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 10:02:54 INFO: [Worker 0] Batching and saving trajectory data for house_5118: 1 episodes [pipeline.py: 233] +05/25 10:02:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:02:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:02:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5118 [save_utils.py: 703] +05/25 10:02:57 INFO: [Worker 0] Successfully saved trajectory data for house_5118 in 2.87s (batch: 2.77s, save: 0.10s) [pipeline.py: 280] +05/25 10:02:57 WARNING: [Worker 0] No trajectory data to save for house_5118 [pipeline.py: 229] +05/25 10:02:57 INFO: [Worker 0] Worker 0 completed house 5118: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:02:57 INFO: [Worker 0] Worker 0 starting house 5145 (index 112/121) [pipeline.py: 473] +05/25 10:02:57 INFO: [Worker 0] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:02:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:03:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5145_ceiling.xml [task_sampler.py: 797] +05/25 10:03:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5145, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:03:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:03:02 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 10:03:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:03:02 INFO: [Worker 0] Sampled task 'Pick up the green number two' [task_sampler.py: 1136] +05/25 10:03:02 INFO: [Worker 0] Worker 0 house 5145 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:03:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:03:03 WARNING: [Worker 0] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene [object_manager.py: 1238] +05/25 10:03:03 WARNING: [Worker 0] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene [object_manager.py: 1238] +05/25 10:03:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:05:18 INFO: [Worker 0] Worker 0 house 5145 episode 0 object objadecorativenumeral_bd77a44afd8c4ecdbec6e2f07da0094a_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 10:05:22 INFO: [Worker 0] Batching and saving trajectory data for house_5145: 1 episodes [pipeline.py: 233] +05/25 10:05:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:05:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:05:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5145 [save_utils.py: 703] +05/25 10:05:24 INFO: [Worker 0] Successfully saved trajectory data for house_5145 in 2.73s (batch: 2.63s, save: 0.10s) [pipeline.py: 280] +05/25 10:05:25 WARNING: [Worker 0] No trajectory data to save for house_5145 [pipeline.py: 229] +05/25 10:05:25 INFO: [Worker 0] Worker 0 completed house 5145: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:05:25 INFO: [Worker 0] Worker 0 starting house 5198 (index 113/121) [pipeline.py: 473] +05/25 10:05:25 INFO: [Worker 0] Loaded 1 episodes for house 5198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:05:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:05:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5198_ceiling.xml [task_sampler.py: 797] +05/25 10:05:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5198, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:05:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:05:30 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 10:05:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:05:30 INFO: [Worker 0] Sampled task 'Pick up the weathered metal vintage megaphone with handle' [task_sampler.py: 1136] +05/25 10:05:30 INFO: [Worker 0] Worker 0 house 5198 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:05:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:05:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:05:40 INFO: [Worker 0] Worker 0 house 5198 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 10:05:44 INFO: [Worker 0] Batching and saving trajectory data for house_5198: 1 episodes [pipeline.py: 233] +05/25 10:05:44 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/25 10:05:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:05:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5198 [save_utils.py: 703] +05/25 10:05:46 INFO: [Worker 0] Successfully saved trajectory data for house_5198 in 2.45s (batch: 2.41s, save: 0.04s) [pipeline.py: 280] +05/25 10:05:47 WARNING: [Worker 0] No trajectory data to save for house_5198 [pipeline.py: 229] +05/25 10:05:47 INFO: [Worker 0] Worker 0 completed house 5198: 1/1 successful episodes [pipeline.py: 1243] +05/25 10:05:47 INFO: [Worker 0] Worker 0 starting house 5228 (index 114/121) [pipeline.py: 473] +05/25 10:05:47 INFO: [Worker 0] Loaded 1 episodes for house 5228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:05:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:05:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5228_ceiling.xml [task_sampler.py: 797] +05/25 10:05:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5228, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:05:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:05:51 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 10:05:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:05:51 INFO: [Worker 0] Sampled task 'Pick up the yellow mother's day card with snoopy' [task_sampler.py: 1136] +05/25 10:05:51 INFO: [Worker 0] Worker 0 house 5228 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:05:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:05:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:07:33 INFO: [Worker 0] Worker 0 house 5228 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 10:07:36 INFO: [Worker 0] Batching and saving trajectory data for house_5228: 1 episodes [pipeline.py: 233] +05/25 10:07:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:07:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:07:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5228 [save_utils.py: 703] +05/25 10:07:39 INFO: [Worker 0] Successfully saved trajectory data for house_5228 in 2.70s (batch: 2.60s, save: 0.10s) [pipeline.py: 280] +05/25 10:07:40 WARNING: [Worker 0] No trajectory data to save for house_5228 [pipeline.py: 229] +05/25 10:07:40 INFO: [Worker 0] Worker 0 completed house 5228: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:07:40 INFO: [Worker 0] Worker 0 starting house 5259 (index 115/121) [pipeline.py: 473] +05/25 10:07:40 INFO: [Worker 0] Loaded 1 episodes for house 5259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:07:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:07:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5259_ceiling.xml [task_sampler.py: 797] +05/25 10:07:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5259, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:07:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:07:46 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 10:07:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:07:46 INFO: [Worker 0] Sampled task 'Pick up the open-ended semi-circular metallic band' [task_sampler.py: 1136] +05/25 10:07:46 INFO: [Worker 0] Worker 0 house 5259 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:07:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:07:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:09:46 INFO: [Worker 0] Worker 0 house 5259 episode 0 object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 10:09:50 INFO: [Worker 0] Batching and saving trajectory data for house_5259: 1 episodes [pipeline.py: 233] +05/25 10:09:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:09:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:09:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5259 [save_utils.py: 703] +05/25 10:09:52 INFO: [Worker 0] Successfully saved trajectory data for house_5259 in 2.62s (batch: 2.52s, save: 0.10s) [pipeline.py: 280] +05/25 10:09:53 WARNING: [Worker 0] No trajectory data to save for house_5259 [pipeline.py: 229] +05/25 10:09:53 INFO: [Worker 0] Worker 0 completed house 5259: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:09:53 INFO: [Worker 0] Worker 0 starting house 5289 (index 116/121) [pipeline.py: 473] +05/25 10:09:53 INFO: [Worker 0] Loaded 1 episodes for house 5289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:09:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:09:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5289_ceiling.xml [task_sampler.py: 797] +05/25 10:09:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5289, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:09:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:09:58 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 10:09:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:09:58 INFO: [Worker 0] Sampled task 'Pick up the medal' [task_sampler.py: 1136] +05/25 10:09:58 INFO: [Worker 0] Worker 0 house 5289 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:09:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:09:58 WARNING: [Worker 0] Could not find object objadentalmodel_82c94eec587c40fba0337908782c4491_1_0_6 in scene [object_manager.py: 1238] +05/25 10:09:58 WARNING: [Worker 0] Could not find object objabullet_4cc75b7ef1bc474392c319a47fd97348_1_0_6 in scene [object_manager.py: 1238] +05/25 10:11:47 INFO: [Worker 0] Worker 0 house 5289 episode 0 object objamedal_73d4a3206020448983a364fee39f9a0b_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 10:11:51 INFO: [Worker 0] Batching and saving trajectory data for house_5289: 1 episodes [pipeline.py: 233] +05/25 10:11:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:11:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:11:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5289 [save_utils.py: 703] +05/25 10:11:54 INFO: [Worker 0] Successfully saved trajectory data for house_5289 in 2.77s (batch: 2.66s, save: 0.11s) [pipeline.py: 280] +05/25 10:11:54 WARNING: [Worker 0] No trajectory data to save for house_5289 [pipeline.py: 229] +05/25 10:11:54 INFO: [Worker 0] Worker 0 completed house 5289: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:11:54 INFO: [Worker 0] Worker 0 starting house 5316 (index 117/121) [pipeline.py: 473] +05/25 10:11:54 INFO: [Worker 0] Loaded 1 episodes for house 5316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:11:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:11:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5316_ceiling.xml [task_sampler.py: 797] +05/25 10:11:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5316, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:11:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:11:57 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/25 10:11:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:11:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:11:57 INFO: [Worker 0] Sampled task 'Pick up the blocky wooden hourglass with sand' [task_sampler.py: 1136] +05/25 10:11:57 INFO: [Worker 0] Worker 0 house 5316 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:11:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:11:57 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene [object_manager.py: 1238] +05/25 10:11:57 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_3 in scene [object_manager.py: 1238] +05/25 10:11:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:13:28 INFO: [Worker 0] Worker 0 house 5316 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 10:13:31 INFO: [Worker 0] Batching and saving trajectory data for house_5316: 1 episodes [pipeline.py: 233] +05/25 10:13:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:13:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:13:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5316 [save_utils.py: 703] +05/25 10:13:34 INFO: [Worker 0] Successfully saved trajectory data for house_5316 in 2.67s (batch: 2.57s, save: 0.10s) [pipeline.py: 280] +05/25 10:13:35 WARNING: [Worker 0] No trajectory data to save for house_5316 [pipeline.py: 229] +05/25 10:13:35 INFO: [Worker 0] Worker 0 completed house 5316: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:13:35 INFO: [Worker 0] Worker 0 starting house 5351 (index 118/121) [pipeline.py: 473] +05/25 10:13:35 INFO: [Worker 0] Loaded 1 episodes for house 5351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:13:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:13:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5351_ceiling.xml [task_sampler.py: 797] +05/25 10:13:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5351, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:13:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:13:38 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/25 10:13:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:13:38 INFO: [Worker 0] Sampled task 'Pick up the blue vintage portable radio with handle' [task_sampler.py: 1136] +05/25 10:13:38 INFO: [Worker 0] Worker 0 house 5351 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:13:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:13:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:13:44 INFO: [Worker 0] Worker 0 house 5351 episode 0 object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 10:13:47 INFO: [Worker 0] Batching and saving trajectory data for house_5351: 1 episodes [pipeline.py: 233] +05/25 10:13:47 INFO: [Worker 0] Preparing episode data: 23 timesteps [save_utils.py: 284] +05/25 10:13:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:13:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5351 [save_utils.py: 703] +05/25 10:13:49 INFO: [Worker 0] Successfully saved trajectory data for house_5351 in 2.25s (batch: 2.22s, save: 0.03s) [pipeline.py: 280] +05/25 10:13:50 WARNING: [Worker 0] No trajectory data to save for house_5351 [pipeline.py: 229] +05/25 10:13:50 INFO: [Worker 0] Worker 0 completed house 5351: 1/1 successful episodes [pipeline.py: 1243] +05/25 10:13:50 INFO: [Worker 0] Worker 0 starting house 5387 (index 119/121) [pipeline.py: 473] +05/25 10:13:50 INFO: [Worker 0] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:13:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:13:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5387_ceiling.xml [task_sampler.py: 797] +05/25 10:13:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5387, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:13:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:13:55 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 10:13:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:13:55 INFO: [Worker 0] Sampled task 'Pick up the golden caduceus with serpents and wings' [task_sampler.py: 1136] +05/25 10:13:55 INFO: [Worker 0] Worker 0 house 5387 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:13:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:15:45 INFO: [Worker 0] Worker 0 house 5387 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 10:15:48 INFO: [Worker 0] Batching and saving trajectory data for house_5387: 1 episodes [pipeline.py: 233] +05/25 10:15:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:15:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:15:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5387 [save_utils.py: 703] +05/25 10:15:51 INFO: [Worker 0] Successfully saved trajectory data for house_5387 in 2.58s (batch: 2.48s, save: 0.10s) [pipeline.py: 280] +05/25 10:15:51 WARNING: [Worker 0] No trajectory data to save for house_5387 [pipeline.py: 229] +05/25 10:15:51 INFO: [Worker 0] Worker 0 completed house 5387: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:15:51 INFO: [Worker 0] Worker 0 starting house 5453 (index 120/121) [pipeline.py: 473] +05/25 10:15:51 INFO: [Worker 0] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 [json_eval_runner.py: 278] +05/25 10:15:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:15:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5453_ceiling.xml [task_sampler.py: 797] +05/25 10:15:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5453, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:15:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:15:59 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/25 10:15:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:15:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:15:59 INFO: [Worker 0] Sampled task 'Pick up the white leaf' [task_sampler.py: 1136] +05/25 10:15:59 INFO: [Worker 0] Worker 0 house 5453 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:15:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:15:59 WARNING: [Worker 0] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene [object_manager.py: 1238] +05/25 10:15:59 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/25 10:18:10 INFO: [Worker 0] Worker 0 house 5453 episode 0 object objadecorativeleaf_367a7c3c6f9347d89389183a7d2861e7_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 10:18:14 INFO: [Worker 0] Batching and saving trajectory data for house_5453: 1 episodes [pipeline.py: 233] +05/25 10:18:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:18:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5453 [save_utils.py: 703] +05/25 10:18:16 INFO: [Worker 0] Successfully saved trajectory data for house_5453 in 2.56s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/25 10:18:17 WARNING: [Worker 0] No trajectory data to save for house_5453 [pipeline.py: 229] +05/25 10:18:17 INFO: [Worker 0] Worker 0 completed house 5453: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:18:17 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/25 10:18:18 INFO: Completed 121 houses, skipped 0 houses [pipeline.py: 1496] +05/25 10:18:18 INFO: Success count: 31, Total count: 125 [pipeline.py: 1499] +05/25 10:18:18 INFO: Success rate: 24.80% [pipeline.py: 1500] diff --git a/pick_randcam/pick_randcam/shards/shard_05/eval/episode_results.jsonl b/pick_randcam/pick_randcam/shards/shard_05/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a0de0dc8853c85fcafd491d4cbb687467992ffa --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/eval/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black high heel", "object_name": "objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_101/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long brown braided ponytail", "object_name": "objahairaccessory_7934fe02dc2a40f39e08f53e0d19ec61_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1032/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1073", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal wrench", "object_name": "objacombinationwrench_2dae5fa80a454d2a9ddf4e8167fcdf61_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1073/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1107", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handheld two-way radio", "object_name": "objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1159", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular tea biscuit package", "object_name": "objafoodpackage_f58c3fdf6e5f41ddae3b6b3e2d7fbae7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1159/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1219", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 396, "task_description": "Pick up the orange wavy terracotta roof tile", "object_name": "objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1219/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1270", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden bookmark with butterfly", "object_name": "objabookmark_19a26ee32f144882806a774b569ea48a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1270/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1299", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long wooden dowel with star-shaped core", "object_name": "objadowel_28700f9228684952a789329ef1475cdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1299/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1326", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray pyramid die with turquoise numbers", "object_name": "objadie_7dadee868cb5440a909202978960e4f0_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1326/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1355", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 91, "task_description": "Pick up the green nameplate", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1355/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1381", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the futuristic green spacecraft with angular wings", "object_name": "objatoyspacecraft_c5979a74b1534661a4fb0412e1d11bdb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1381/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1408", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 81, "task_description": "Pick up the blue birthday card with fox and rabbit", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1408/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1408", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow pencil", "object_name": "pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1408/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1420", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the metal chisel with handle", "object_name": "objachisel_8684f79ad879447cbd64770f6e5faf14_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1420/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1498", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fruit", "object_name": "apple_1184bcea45a878476443040fbba5b76d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1498/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1555", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital camera", "object_name": "objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1555/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1604", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 93, "task_description": "Pick up the red robotic hand", "object_name": "objarobotichand_41386ca558bd4bd0a8c72e3ddc3720ba_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1604/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1651", "episode_idx": 0, "success": false, "oracle_done": 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false, "num_steps": 449, "task_description": "Pick up the yellow mother's day card with snoopy", "object_name": "objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5228/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5259", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the open-ended semi-circular metallic band", "object_name": "objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5259/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medal", "object_name": "objamedal_73d4a3206020448983a364fee39f9a0b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5289/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_530", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow round gray stone dish", "object_name": "objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_530/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5316", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5316/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 21, "task_description": "Pick up the blue vintage portable radio with handle", "object_name": "objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5351/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden caduceus with serpents and wings", "object_name": "objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5453", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white leaf", "object_name": "objadecorativeleaf_367a7c3c6f9347d89389183a7d2861e7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5453/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_randcam/pick_randcam/shards/shard_05/eval/eval.log b/pick_randcam/pick_randcam/shards/shard_05/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8145e31bc61fbc037cdb4651d9fbfdca61369581 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/eval/eval.log @@ -0,0 +1,3973 @@ +[2026-05-25 06:17:08,770] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-25 06:17:08,836] INFO Selected MuJoCo backend: egl +[2026-05-25 06:17:08,875] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 (source=arg) +[2026-05-25 06:17:11,219] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-25 06:17:20,757] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-25 06:21:39,627] INFO Using save_video_sensors=['__none__'] +[2026-05-25 06:21:44,333] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-25 06:21:44,387] INFO Using explicit task_horizon override: 450 steps +[05/25 06:21:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-25 06:21:44,427] INFO JsonEvalRunner initialized: 121 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:21:44 INFO pipeline.py:1279] Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes +[05/25 06:21:44 INFO pipeline.py:1286] Evaluation configuration: +[05/25 06:21:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [101, + 169, + 203, + 254, + 304, + 377, + 416, + 446, + 475, + 530, + 1032, + 1073, + 1107, + 1159, + 1219, + 1270, + 1299, + 1326, + 1355, + 1381, + 1408, + 1420, + 1498, + 1555, + 1604, + 1651, + 1686, + 1722, + 1763, + 1810, + 1872, + 1907, + 1937, + 1955, + 1993, + 2026, + 2059, + 2101, + 2135, + 2157, + 2191, + 2218, + 2247, + 2298, + 2351, + 2391, + 2415, + 2462, + 2503, + 2541, + 2585, + 2623, + 2653, + 2695, + 2728, + 2766, + 2807, + 2846, + 2875, + 2915, + 2970, + 3019, + 3045, + 3103, + 3180, + 3211, + 3241, + 3273, + 3299, + 3362, + 3407, + 3463, + 3490, + 3525, + 3560, + 3590, + 3606, + 3635, + 3665, + 3723, + 3761, + 3814, + 3846, + 3877, + 3899, + 3918, + 3965, + 3998, + 4032, + 4086, + 4148, + 4188, + 4240, + 4290, + 4335, + 4398, + 4444, + 4495, + 4536, + 4571, + 4623, + 4706, + 4757, + 4807, + 4837, + 4853, + 4902, + 4954, + 4992, + 5020, + 5059, + 5118, + 5145, + 5198, + 5228, + 5259, + 5289, + 5316, + 5351, + 5387, + 5453], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-25 06:21:44,432] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +[05/25 06:21:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/25 06:21:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 101 (index 0/121) +[05/25 06:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/25 06:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene +[05/25 06:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene +2026-05-25 06:22:02.319 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-25 06:22:25,731] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-25 06:22:26,169] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-25 06:23:32,773] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-25 06:23:40,296] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-25 06:23:40,299] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/25 06:26:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 completed with success=False +[05/25 06:26:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_101: 1 episodes +[05/25 06:26:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:26:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:26:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_101 +[05/25 06:26:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_101 in 2.71s (batch: 2.61s, save: 0.10s) +[05/25 06:26:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_101 +[05/25 06:26:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 101: 0/1 successful episodes +[05/25 06:26:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 169 (index 1/121) +[05/25 06:26:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:26:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:26:16 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene +[05/25 06:26:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 06:26:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:28:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 0 object objainvitationcard_24b2de2ae5ff4cbba9bdaa2b33b109ee_2_0_6 completed with success=False +[05/25 06:28:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_169: 1 episodes +[05/25 06:28:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:28:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:28:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_169 +[05/25 06:28:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_169 in 2.95s (batch: 2.83s, save: 0.12s) +[05/25 06:28:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_169 +[05/25 06:28:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 169: 0/1 successful episodes +[05/25 06:28:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 203 (index 2/121) +[05/25 06:28:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:28:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 06:30:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 0 object objadigitalcamera_485a9d31df964df4b3ddf75c8513eead_1_0_2 completed with success=False +[05/25 06:30:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_203: 1 episodes +[05/25 06:30:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:30:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:30:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_203 +[05/25 06:30:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_203 in 3.01s (batch: 2.91s, save: 0.10s) +[05/25 06:30:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_203 +[05/25 06:30:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 203: 0/1 successful episodes +[05/25 06:30:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 254 (index 3/121) +[05/25 06:30:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:30:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 06:30:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_9525cde4b189451289432e3f98ffc90d_1_0_7 in scene +[05/25 06:30:49 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_7 in scene +[05/25 06:33:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 254 episode 0 object objavirtualrealitygoggles_99bdd66f6a6745a98f4bee07963480ee_1_0_4 completed with success=False +[05/25 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_254: 1 episodes +[05/25 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_254 +[05/25 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_254 in 3.06s (batch: 2.93s, save: 0.13s) +[05/25 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_254 +[05/25 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 254: 0/1 successful episodes +[05/25 06:33:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 304 (index 4/121) +[05/25 06:33:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:33:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 06:33:21 Worker 0 WARNING object_manager.py:1238] Could not find object objafood_3fe13164a6074993a8670a22d8feec41_1_0_2 in scene +[05/25 06:33:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/25 06:33:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:35:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 304 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_2 completed with success=False +[05/25 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_304: 1 episodes +[05/25 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_304 +[05/25 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_304 in 2.67s (batch: 2.58s, save: 0.10s) +[05/25 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_304 +[05/25 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 304: 0/1 successful episodes +[05/25 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 377 (index 5/121) +[05/25 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:35:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamount_b44ed71003e149cc98576162a09d588c_2_0_8 in scene +[05/25 06:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 377 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_3 completed with success=False +[05/25 06:37:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_377: 1 episodes +[05/25 06:37:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:37:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:37:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_377 +[05/25 06:37:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_377 in 2.97s (batch: 2.87s, save: 0.10s) +[05/25 06:37:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_377 +[05/25 06:37:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 377: 0/1 successful episodes +[05/25 06:37:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 416 (index 6/121) +[05/25 06:37:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 06:38:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:38:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 416 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_2 completed with success=True +[05/25 06:38:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_416: 1 episodes +[05/25 06:38:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/25 06:38:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:38:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_416 +[05/25 06:38:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_416 in 2.50s (batch: 2.45s, save: 0.04s) +[05/25 06:38:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_416 +[05/25 06:38:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 416: 1/1 successful episodes +[05/25 06:38:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 446 (index 7/121) +[05/25 06:38:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 446 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:38:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 06:38:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:40:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 0 object objadraincover_568b96b1661844cb816633d29f722ccb_1_0_5 completed with success=False +[05/25 06:40:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_446: 1 episodes +[05/25 06:40:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:40:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:40:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_446 +[05/25 06:40:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_446 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 06:40:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_446 +[05/25 06:40:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 446: 0/1 successful episodes +[05/25 06:40:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 475 (index 8/121) +[05/25 06:40:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:40:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 06:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 475 episode 0 object objaratchetwrench_aa7f0ee6602d4e979f6dca5a8e7d3db8_2_0_7 completed with success=False +[05/25 06:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_475: 1 episodes +[05/25 06:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:43:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_475 +[05/25 06:43:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_475 in 2.76s (batch: 2.65s, save: 0.11s) +[05/25 06:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_475 +[05/25 06:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 475: 0/1 successful episodes +[05/25 06:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 530 (index 9/121) +[05/25 06:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 530 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:45:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 530 episode 0 object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_4 completed with success=False +[05/25 06:45:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_530: 1 episodes +[05/25 06:45:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:45:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:45:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_530 +[05/25 06:45:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_530 in 2.66s (batch: 2.57s, save: 0.09s) +[05/25 06:45:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_530 +[05/25 06:45:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 530: 0/1 successful episodes +[05/25 06:45:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1032 (index 10/121) +[05/25 06:45:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:45:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:47:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1032 episode 0 object objahairaccessory_7934fe02dc2a40f39e08f53e0d19ec61_1_0_3 completed with success=False +[05/25 06:47:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1032: 1 episodes +[05/25 06:47:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:47:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:47:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1032 +[05/25 06:47:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1032 in 2.74s (batch: 2.63s, save: 0.11s) +[05/25 06:47:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1032 +[05/25 06:47:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1032: 0/1 successful episodes +[05/25 06:47:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1073 (index 11/121) +[05/25 06:47:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:47:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/25 06:49:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1073 episode 0 object objacombinationwrench_2dae5fa80a454d2a9ddf4e8167fcdf61_2_0_3 completed with success=False +[05/25 06:50:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1073: 1 episodes +[05/25 06:50:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:50:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:50:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1073 +[05/25 06:50:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1073 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 06:50:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1073 +[05/25 06:50:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1073: 0/1 successful episodes +[05/25 06:50:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1107 (index 12/121) +[05/25 06:50:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:50:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 in scene +[05/25 06:50:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:52:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1107 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False +[05/25 06:52:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1107: 1 episodes +[05/25 06:52:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:52:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:52:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1107 +[05/25 06:52:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1107 in 3.02s (batch: 2.90s, save: 0.12s) +[05/25 06:52:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1107 +[05/25 06:52:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1107: 0/1 successful episodes +[05/25 06:52:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1159 (index 13/121) +[05/25 06:52:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:52:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 06:52:31 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene +[05/25 06:52:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 06:52:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1159 episode 0 object objafoodpackage_f58c3fdf6e5f41ddae3b6b3e2d7fbae7_1_0_6 completed with success=False +[05/25 06:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1159: 1 episodes +[05/25 06:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1159 +[05/25 06:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1159 in 2.91s (batch: 2.79s, save: 0.12s) +[05/25 06:54:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1159 +[05/25 06:54:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1159: 0/1 successful episodes +[05/25 06:54:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1219 (index 14/121) +[05/25 06:54:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:54:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 06:55:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:57:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1219 episode 0 object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 completed with success=True +[05/25 06:57:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1219: 1 episodes +[05/25 06:57:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 398 timesteps +[05/25 06:57:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:57:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1219 +[05/25 06:57:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1219 in 2.71s (batch: 2.62s, save: 0.10s) +[05/25 06:57:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1219 +[05/25 06:57:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1219: 1/1 successful episodes +[05/25 06:57:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1270 (index 15/121) +[05/25 06:57:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:57:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 06:57:09 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_2 in scene +[05/25 06:57:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:58:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1270 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_2 completed with success=False +[05/25 06:58:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1270: 1 episodes +[05/25 06:58:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:58:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:58:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1270 +[05/25 06:58:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1270 in 2.67s (batch: 2.58s, save: 0.09s) +[05/25 06:58:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1270 +[05/25 06:58:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1270: 0/1 successful episodes +[05/25 06:58:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1299 (index 16/121) +[05/25 06:58:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/25 06:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_3 in scene +[05/25 06:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenartifact_897e929421d84f8ab8c03a1d4ecb856b_1_0_3 in scene +[05/25 06:58:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:00:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1299 episode 0 object objadowel_28700f9228684952a789329ef1475cdf_1_0_2 completed with success=False +[05/25 07:00:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1299: 1 episodes +[05/25 07:00:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:00:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:00:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1299 +[05/25 07:00:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1299 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 07:00:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1299 +[05/25 07:00:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1299: 0/1 successful episodes +[05/25 07:00:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1326 (index 17/121) +[05/25 07:00:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:00:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasoilslab_6b3895a77ccc4b92837e992aba5410bd_1_0_6 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_7 in scene +[05/25 07:00:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:02:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1326 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_9 completed with success=False +[05/25 07:02:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1326: 1 episodes +[05/25 07:02:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1326 +[05/25 07:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1326 in 3.16s (batch: 3.06s, save: 0.10s) +[05/25 07:02:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1326 +[05/25 07:02:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1326: 0/1 successful episodes +[05/25 07:02:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1355 (index 18/121) +[05/25 07:02:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1355 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:02:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:03:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:03:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1355 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_4 completed with success=True +[05/25 07:03:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1355: 1 episodes +[05/25 07:03:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 93 timesteps +[05/25 07:03:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:03:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1355 +[05/25 07:03:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1355 in 2.97s (batch: 2.91s, save: 0.06s) +[05/25 07:03:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1355 +[05/25 07:03:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1355: 1/1 successful episodes +[05/25 07:03:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1381 (index 19/121) +[05/25 07:03:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:03:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 07:03:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1381 episode 0 object objatoyspacecraft_c5979a74b1534661a4fb0412e1d11bdb_1_0_3 completed with success=False +[05/25 07:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1381: 1 episodes +[05/25 07:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:06:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:06:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1381 +[05/25 07:06:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1381 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 07:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1381 +[05/25 07:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1381: 0/1 successful episodes +[05/25 07:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1408 (index 20/121) +[05/25 07:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene +[05/25 07:06:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1408 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=True +[05/25 07:07:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene +[05/25 07:07:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1408 episode 1 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_7 completed with success=False +[05/25 07:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1408: 2 episodes +[05/25 07:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/25 07:09:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:09:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1408 +[05/25 07:09:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1408 in 5.50s (batch: 5.35s, save: 0.15s) +[05/25 07:09:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1408 +[05/25 07:09:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1408: 1/2 successful episodes +[05/25 07:09:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1420 (index 21/121) +[05/25 07:09:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 07:09:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:09:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 1420 episode 0 object objachisel_8684f79ad879447cbd64770f6e5faf14_1_0_8 completed with success=True +[05/25 07:09:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1420: 1 episodes +[05/25 07:09:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/25 07:09:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1420 +[05/25 07:09:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1420 in 2.52s (batch: 2.48s, save: 0.04s) +[05/25 07:09:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1420 +[05/25 07:09:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1420: 1/1 successful episodes +[05/25 07:09:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1498 (index 22/121) +[05/25 07:09:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:09:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:09:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:11:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 1498 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_6 completed with success=False +[05/25 07:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1498: 1 episodes +[05/25 07:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:11:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:11:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1498 +[05/25 07:11:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1498 in 2.70s (batch: 2.58s, save: 0.12s) +[05/25 07:11:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1498 +[05/25 07:11:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1498: 0/1 successful episodes +[05/25 07:11:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1555 (index 23/121) +[05/25 07:11:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:11:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:11:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +[05/25 07:11:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 07:11:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:13:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1555 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_8 completed with success=False +[05/25 07:13:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1555: 1 episodes +[05/25 07:13:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:13:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:13:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1555 +[05/25 07:13:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1555 in 2.63s (batch: 2.54s, save: 0.10s) +[05/25 07:13:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1555 +[05/25 07:13:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1555: 0/1 successful episodes +[05/25 07:13:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1604 (index 24/121) +[05/25 07:13:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1604 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:13:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_2_0_4 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_4 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaspaceshipmodel_6a801458b065464ba743f2374846e192_1_0_6 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_3_0_6 in scene +[05/25 07:14:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1604 episode 0 object objarobotichand_41386ca558bd4bd0a8c72e3ddc3720ba_1_0_7 completed with success=True +[05/25 07:14:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1604: 1 episodes +[05/25 07:14:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/25 07:14:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:14:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1604 +[05/25 07:14:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1604 in 2.43s (batch: 2.39s, save: 0.04s) +[05/25 07:14:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1604 +[05/25 07:14:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1604: 1/1 successful episodes +[05/25 07:14:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1651 (index 25/121) +[05/25 07:14:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:14:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:16:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 1651 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False +[05/25 07:16:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1651: 1 episodes +[05/25 07:16:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:16:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:16:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1651 +[05/25 07:16:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1651 in 2.76s (batch: 2.66s, save: 0.11s) +[05/25 07:16:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1651 +[05/25 07:16:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1651: 0/1 successful episodes +[05/25 07:16:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1686 (index 26/121) +[05/25 07:16:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:16:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:16:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:16:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 1686 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_7 completed with success=True +[05/25 07:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1686: 1 episodes +[05/25 07:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/25 07:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1686 +[05/25 07:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1686 in 2.46s (batch: 2.41s, save: 0.04s) +[05/25 07:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1686 +[05/25 07:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1686: 1/1 successful episodes +[05/25 07:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1722 (index 27/121) +[05/25 07:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:16:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:18:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1722 episode 0 object objareplicaweapon_d5499e5cab3941d0aab137d7f7152534_1_0_6 completed with success=False +[05/25 07:18:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1722: 1 episodes +[05/25 07:18:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:18:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:18:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1722 +[05/25 07:18:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1722 in 2.80s (batch: 2.70s, save: 0.09s) +[05/25 07:18:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1722 +[05/25 07:18:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1722: 0/1 successful episodes +[05/25 07:18:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1763 (index 28/121) +[05/25 07:18:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:18:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/25 07:20:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 1763 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_7 completed with success=False +[05/25 07:20:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1763: 1 episodes +[05/25 07:20:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:20:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:20:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1763 +[05/25 07:20:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1763 in 2.76s (batch: 2.63s, save: 0.13s) +[05/25 07:20:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1763 +[05/25 07:20:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1763: 0/1 successful episodes +[05/25 07:20:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1810 (index 29/121) +[05/25 07:20:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1810 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:20:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[05/25 07:22:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 1810 episode 0 object objafooditem_7d263bf310314339a199810ce968226e_1_0_2 completed with success=False +[05/25 07:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1810: 1 episodes +[05/25 07:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:22:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:22:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1810 +[05/25 07:22:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1810 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 07:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1810 +[05/25 07:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1810: 0/1 successful episodes +[05/25 07:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1872 (index 30/121) +[05/25 07:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 07:22:32 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_4 in scene +[05/25 07:22:32 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/25 07:22:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 1872 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_2_0_6 completed with success=False +[05/25 07:25:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1872: 1 episodes +[05/25 07:25:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:25:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:25:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1872 +[05/25 07:25:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1872 in 2.74s (batch: 2.65s, save: 0.10s) +[05/25 07:25:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1872 +[05/25 07:25:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1872: 0/1 successful episodes +[05/25 07:25:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1907 (index 31/121) +[05/25 07:25:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:25:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 07:28:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1907 episode 0 object objacrucifix_934ff28b55a1448d98046be1d72411f3_1_0_6 completed with success=False +[05/25 07:28:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1907: 1 episodes +[05/25 07:28:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:28:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:28:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1907 +[05/25 07:28:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1907 in 2.67s (batch: 2.57s, save: 0.09s) +[05/25 07:28:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1907 +[05/25 07:28:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1907: 0/1 successful episodes +[05/25 07:28:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1937 (index 32/121) +[05/25 07:28:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:28:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/25 07:28:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 1937 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False +[05/25 07:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1937: 1 episodes +[05/25 07:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:30:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1937 +[05/25 07:30:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1937 in 2.90s (batch: 2.80s, save: 0.09s) +[05/25 07:30:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1937 +[05/25 07:30:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1937: 0/1 successful episodes +[05/25 07:30:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1955 (index 33/121) +[05/25 07:30:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:30:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1955 episode 0 object objalighthouse_8dcb5eb233064c33932b4d36bc69087f_1_0_3 completed with success=False +[05/25 07:32:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1955: 1 episodes +[05/25 07:32:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1955 +[05/25 07:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1955 in 2.71s (batch: 2.59s, save: 0.12s) +[05/25 07:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1955 +[05/25 07:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1955: 0/1 successful episodes +[05/25 07:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1993 (index 34/121) +[05/25 07:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 07:32:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1993 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 completed with success=True +[05/25 07:32:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1993: 1 episodes +[05/25 07:32:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/25 07:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:33:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1993 +[05/25 07:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1993 in 2.42s (batch: 2.39s, save: 0.04s) +[05/25 07:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1993 +[05/25 07:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1993: 1/1 successful episodes +[05/25 07:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2026 (index 35/121) +[05/25 07:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2026 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 07:33:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2026 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_4 completed with success=True +[05/25 07:33:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2026: 1 episodes +[05/25 07:33:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/25 07:33:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:33:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2026 +[05/25 07:33:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2026 in 2.45s (batch: 2.39s, save: 0.06s) +[05/25 07:33:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2026 +[05/25 07:33:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2026: 1/1 successful episodes +[05/25 07:33:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2059 (index 36/121) +[05/25 07:33:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:33:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_935c30c7839142ee804775ac6b01521b_1_0_7 in scene +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_7 in scene +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_7 in scene +[05/25 07:34:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2059 episode 0 object objaflask_a9cbfdae0f6d4b29942b2afdfe44bc65_1_0_4 completed with success=True +[05/25 07:34:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2059: 1 episodes +[05/25 07:34:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/25 07:34:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:34:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2059 +[05/25 07:34:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2059 in 2.39s (batch: 2.36s, save: 0.04s) +[05/25 07:34:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2059 +[05/25 07:34:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2059: 1/1 successful episodes +[05/25 07:34:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2101 (index 37/121) +[05/25 07:34:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:34:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:34:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2101 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False +[05/25 07:36:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2101: 1 episodes +[05/25 07:36:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:36:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:36:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2101 +[05/25 07:36:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2101 in 2.60s (batch: 2.51s, save: 0.10s) +[05/25 07:36:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2101 +[05/25 07:36:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2101: 0/1 successful episodes +[05/25 07:36:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2135 (index 38/121) +[05/25 07:36:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2135 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:36:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/25 07:36:05 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_24e1bcf3515547eeac102c9874a1a29b_1_0_3 in scene +[05/25 07:36:05 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +[05/25 07:37:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2135 episode 0 object objadecorativeartifact_5e2d5028e91d4e44bf9effdba17c79f9_1_0_3 completed with success=False +[05/25 07:37:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2135: 1 episodes +[05/25 07:37:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:37:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:37:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2135 +[05/25 07:37:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2135 in 2.63s (batch: 2.52s, save: 0.12s) +[05/25 07:37:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2135 +[05/25 07:37:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2135: 0/1 successful episodes +[05/25 07:37:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2157 (index 39/121) +[05/25 07:37:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2157 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:37:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene +[05/25 07:40:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2157 episode 0 object objavideogamebox_c18bf9d6db5044ceb45089c0345536d2_2_0_8 completed with success=False +[05/25 07:40:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene +[05/25 07:42:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2157 episode 1 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_6 completed with success=False +[05/25 07:42:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2157: 2 episodes +[05/25 07:42:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:42:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2157 +[05/25 07:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2157 in 5.60s (batch: 5.40s, save: 0.20s) +[05/25 07:43:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2157 +[05/25 07:43:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2157: 0/2 successful episodes +[05/25 07:43:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2191 (index 40/121) +[05/25 07:43:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:43:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 07:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene +[05/25 07:43:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2191 episode 0 object objabowtie_aa43cf45ba7f42ab8b03a896cd436d5f_1_0_3 completed with success=True +[05/25 07:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2191: 1 episodes +[05/25 07:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/25 07:43:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2191 +[05/25 07:43:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2191 in 2.38s (batch: 2.34s, save: 0.04s) +[05/25 07:43:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2191 +[05/25 07:43:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2191: 1/1 successful episodes +[05/25 07:43:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2218 (index 41/121) +[05/25 07:43:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:43:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/25 07:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:45:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 2218 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_6 completed with success=False +[05/25 07:45:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2218: 1 episodes +[05/25 07:45:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:45:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:45:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2218 +[05/25 07:45:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2218 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 07:45:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2218 +[05/25 07:45:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2218: 0/1 successful episodes +[05/25 07:45:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2247 (index 42/121) +[05/25 07:45:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:45:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 07:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 07:46:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 2247 episode 0 object objastoneblock_3196930e59c54325a11305d8d4d378d7_1_0_7 completed with success=True +[05/25 07:46:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2247: 1 episodes +[05/25 07:46:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/25 07:46:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2247 +[05/25 07:46:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2247 in 2.35s (batch: 2.30s, save: 0.04s) +[05/25 07:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2247 +[05/25 07:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2247: 1/1 successful episodes +[05/25 07:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2298 (index 43/121) +[05/25 07:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:46:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:48:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 2298 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_3 completed with success=False +[05/25 07:48:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2298: 1 episodes +[05/25 07:48:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:48:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2298 +[05/25 07:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2298 in 2.95s (batch: 2.84s, save: 0.12s) +[05/25 07:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2298 +[05/25 07:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2298: 0/1 successful episodes +[05/25 07:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2351 (index 44/121) +[05/25 07:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2351 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 completed with success=False +[05/25 07:50:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2351: 1 episodes +[05/25 07:50:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:50:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:50:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2351 +[05/25 07:50:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2351 in 2.68s (batch: 2.58s, save: 0.10s) +[05/25 07:50:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2351 +[05/25 07:50:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2351: 0/1 successful episodes +[05/25 07:50:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2391 (index 45/121) +[05/25 07:50:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:50:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:50:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2391 episode 0 object objaadjustablewrench_9c640f9d50cb423bbffc485b92e10e5c_1_0_4 completed with success=False +[05/25 07:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2391: 1 episodes +[05/25 07:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:52:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:52:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2391 +[05/25 07:52:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2391 in 2.63s (batch: 2.53s, save: 0.10s) +[05/25 07:52:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2391 +[05/25 07:52:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2391: 0/1 successful episodes +[05/25 07:52:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2415 (index 46/121) +[05/25 07:52:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:52:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:52:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:53:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2415 episode 0 object objaspike_f9d7354296ae472392c111e81f0ac276_1_0_2 completed with success=True +[05/25 07:53:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2415: 1 episodes +[05/25 07:53:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 07:53:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:53:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2415 +[05/25 07:53:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2415 in 2.48s (batch: 2.43s, save: 0.05s) +[05/25 07:53:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2415 +[05/25 07:53:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2415: 1/1 successful episodes +[05/25 07:53:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2462 (index 47/121) +[05/25 07:53:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:53:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:53:23 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 in scene +[05/25 07:53:23 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 07:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2462 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=True +[05/25 07:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2462: 1 episodes +[05/25 07:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 07:53:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:53:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2462 +[05/25 07:53:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2462 in 2.32s (batch: 2.29s, save: 0.04s) +[05/25 07:53:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2462 +[05/25 07:53:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2462: 1/1 successful episodes +[05/25 07:53:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2503 (index 48/121) +[05/25 07:53:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2503 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:53:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 07:55:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2503 episode 0 object objaemblem_96907aeebd274c7e8aadbc9b893db4a9_1_0_3 completed with success=False +[05/25 07:55:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2503: 1 episodes +[05/25 07:55:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:55:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:55:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2503 +[05/25 07:55:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2503 in 2.89s (batch: 2.79s, save: 0.09s) +[05/25 07:55:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2503 +[05/25 07:55:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2503: 0/1 successful episodes +[05/25 07:55:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2541 (index 49/121) +[05/25 07:55:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:55:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:55:52 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene +[05/25 07:55:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +[05/25 07:58:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 2541 episode 0 object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 completed with success=False +[05/25 07:58:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2541: 1 episodes +[05/25 07:58:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:58:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:58:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2541 +[05/25 07:58:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2541 in 2.76s (batch: 2.63s, save: 0.12s) +[05/25 07:58:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2541 +[05/25 07:58:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2541: 0/1 successful episodes +[05/25 07:58:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2585 (index 50/121) +[05/25 07:58:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:58:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:58:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2585 episode 0 object objabadge_d9e0e0ca2712465a9e19596ce1ec4c8e_1_0_6 completed with success=False +[05/25 08:00:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2585: 1 episodes +[05/25 08:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:00:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:00:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2585 +[05/25 08:00:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2585 in 2.79s (batch: 2.68s, save: 0.12s) +[05/25 08:00:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2585 +[05/25 08:00:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2585: 0/1 successful episodes +[05/25 08:00:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2623 (index 51/121) +[05/25 08:00:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:00:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:00:22 Worker 0 WARNING object_manager.py:1238] Could not find object objagasmask_1d94357061ed4279a71291c665be0765_1_0_5 in scene +[05/25 08:00:22 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_1_0_5 in scene +[05/25 08:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2623 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/25 08:02:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2623: 1 episodes +[05/25 08:02:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:02:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2623 +[05/25 08:02:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2623 in 2.64s (batch: 2.53s, save: 0.11s) +[05/25 08:02:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2623 +[05/25 08:02:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2623: 0/1 successful episodes +[05/25 08:02:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2653 (index 52/121) +[05/25 08:02:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:02:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:02:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 2653 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=True +[05/25 08:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2653: 1 episodes +[05/25 08:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/25 08:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2653 +[05/25 08:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2653 in 2.40s (batch: 2.35s, save: 0.05s) +[05/25 08:02:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2653 +[05/25 08:02:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2653: 1/1 successful episodes +[05/25 08:02:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2695 (index 53/121) +[05/25 08:02:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:02:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapackagingtray_4852600853ff4585a62a59b98a7b7744_1_0_6 in scene +[05/25 08:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_6 in scene +[05/25 08:02:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2695 episode 0 object objastyluspen_0a77378c4ec64c8cb67e19b9f44a5de5_1_0_7 completed with success=True +[05/25 08:02:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2695: 1 episodes +[05/25 08:02:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 08:02:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2695 +[05/25 08:02:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2695 in 2.34s (batch: 2.30s, save: 0.04s) +[05/25 08:03:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2695 +[05/25 08:03:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2695: 1/1 successful episodes +[05/25 08:03:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2728 (index 54/121) +[05/25 08:03:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:03:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 08:03:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_7 in scene +[05/25 08:03:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_2_0_7 in scene +[05/25 08:03:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:05:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 2728 episode 0 object objasqueegee_42a4cfa4a56746fa8eb865cc19077e8d_1_0_7 completed with success=False +[05/25 08:05:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2728: 1 episodes +[05/25 08:05:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:05:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:05:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2728 +[05/25 08:05:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2728 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 08:05:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2728 +[05/25 08:05:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2728: 0/1 successful episodes +[05/25 08:05:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2766 (index 55/121) +[05/25 08:05:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:05:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 08:05:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:07:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2766 episode 0 object objametalrod_41462f7e54e24b4294f62104cb085996_1_0_4 completed with success=False +[05/25 08:07:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2766: 1 episodes +[05/25 08:07:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:07:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:07:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2766 +[05/25 08:07:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2766 in 2.87s (batch: 2.75s, save: 0.12s) +[05/25 08:07:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2766 +[05/25 08:07:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2766: 0/1 successful episodes +[05/25 08:07:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2807 (index 56/121) +[05/25 08:07:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:07:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object objahardhat_0b2c9268652246dd9639ccf2cec10a1c_1_0_6 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object objarockyterrainmodel_4fc725d678894c4295fa984ec49c9247_1_0_9 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_b389900f385a224adfc6bfda9c92faf5_1_0_9 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object box_0140b828007f0f38133e0ca9e138ff0e_1_0_9 in scene +[05/25 08:10:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2807 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_8 completed with success=False +[05/25 08:10:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2807: 1 episodes +[05/25 08:10:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:10:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:10:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2807 +[05/25 08:10:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2807 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 08:10:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2807 +[05/25 08:10:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2807: 0/1 successful episodes +[05/25 08:10:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2846 (index 57/121) +[05/25 08:10:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:10:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:10:22 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_7 in scene +[05/25 08:12:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 2846 episode 0 object objamace_82aa62b2083742eebf45dc96d2db674a_1_0_8 completed with success=False +[05/25 08:12:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2846: 1 episodes +[05/25 08:12:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:12:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:12:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2846 +[05/25 08:12:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2846 in 2.90s (batch: 2.79s, save: 0.11s) +[05/25 08:12:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2846 +[05/25 08:12:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2846: 0/1 successful episodes +[05/25 08:12:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2875 (index 58/121) +[05/25 08:12:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2875 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:12:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 08:12:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2875 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_6 completed with success=True +[05/25 08:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2875: 1 episodes +[05/25 08:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/25 08:13:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:13:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2875 +[05/25 08:13:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2875 in 2.36s (batch: 2.32s, save: 0.05s) +[05/25 08:13:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2875 +[05/25 08:13:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2875: 1/1 successful episodes +[05/25 08:13:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2915 (index 59/121) +[05/25 08:13:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:13:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:14:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 2915 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_2 completed with success=False +[05/25 08:14:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2915: 1 episodes +[05/25 08:14:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:14:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:14:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2915 +[05/25 08:14:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2915 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 08:14:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2915 +[05/25 08:14:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2915: 0/1 successful episodes +[05/25 08:14:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2970 (index 60/121) +[05/25 08:14:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:14:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +[05/25 08:17:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2970 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 completed with success=False +[05/25 08:17:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2970: 1 episodes +[05/25 08:17:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:17:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:17:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2970 +[05/25 08:17:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2970 in 2.79s (batch: 2.69s, save: 0.10s) +[05/25 08:17:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2970 +[05/25 08:17:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2970: 0/1 successful episodes +[05/25 08:17:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3019 (index 61/121) +[05/25 08:17:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:17:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene +[05/25 08:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +[05/25 08:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3019 episode 0 object cookingpan_987b6d6cc7696fe9beecf0ce92099460_1_0_8 completed with success=True +[05/25 08:18:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3019: 1 episodes +[05/25 08:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 101 timesteps +[05/25 08:18:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:18:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3019 +[05/25 08:18:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3019 in 2.56s (batch: 2.51s, save: 0.05s) +[05/25 08:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3019 +[05/25 08:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3019: 1/1 successful episodes +[05/25 08:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3045 (index 62/121) +[05/25 08:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 08:18:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:18:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3045 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=True +[05/25 08:18:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3045: 1 episodes +[05/25 08:18:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/25 08:18:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:18:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3045 +[05/25 08:18:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3045 in 2.66s (batch: 2.61s, save: 0.04s) +[05/25 08:18:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3045 +[05/25 08:18:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3045: 1/1 successful episodes +[05/25 08:18:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3103 (index 63/121) +[05/25 08:18:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:18:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:18:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_5 in scene +[05/25 08:18:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 08:20:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3103 episode 0 object objaceramicvessel_6db775ca1bd14c5da45b45aea13d99e5_1_0_8 completed with success=False +[05/25 08:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3103: 1 episodes +[05/25 08:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:21:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3103 +[05/25 08:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3103 in 2.81s (batch: 2.70s, save: 0.10s) +[05/25 08:21:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3103 +[05/25 08:21:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3103: 0/1 successful episodes +[05/25 08:21:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3180 (index 64/121) +[05/25 08:21:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:21:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/25 08:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:22:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3180 episode 0 object objapineapple_1aa94c9127004536a5f2b14f9743675b_1_0_2 completed with success=False +[05/25 08:22:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3180: 1 episodes +[05/25 08:22:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:23:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:23:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3180 +[05/25 08:23:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3180 in 2.74s (batch: 2.63s, save: 0.10s) +[05/25 08:23:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3180 +[05/25 08:23:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3180: 0/1 successful episodes +[05/25 08:23:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3211 (index 65/121) +[05/25 08:23:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:23:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:23:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:25:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3211 episode 0 object objavegetable_6bafea3c607848f78a42239755eac8ee_1_0_2 completed with success=False +[05/25 08:25:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3211: 1 episodes +[05/25 08:25:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:25:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:25:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3211 +[05/25 08:25:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3211 in 3.02s (batch: 2.89s, save: 0.13s) +[05/25 08:25:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3211 +[05/25 08:25:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3211: 0/1 successful episodes +[05/25 08:25:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3241 (index 66/121) +[05/25 08:25:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:25:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 08:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[05/25 08:25:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:27:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3241 episode 0 object objadecorativemolding_00c872b61d4441c68c8e5d23953a221f_1_0_8 completed with success=False +[05/25 08:27:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3241: 1 episodes +[05/25 08:27:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:27:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:27:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3241 +[05/25 08:27:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3241 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 08:27:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3241 +[05/25 08:27:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3241: 0/1 successful episodes +[05/25 08:27:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3273 (index 67/121) +[05/25 08:27:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:27:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:27:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3273 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_6 completed with success=False +[05/25 08:29:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3273: 1 episodes +[05/25 08:29:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:29:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3273 +[05/25 08:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3273 in 2.98s (batch: 2.89s, save: 0.10s) +[05/25 08:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3273 +[05/25 08:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3273: 0/1 successful episodes +[05/25 08:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3299 (index 68/121) +[05/25 08:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 08:29:46 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_2 in scene +[05/25 08:32:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 3299 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_2_0_4 completed with success=False +[05/25 08:32:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3299: 1 episodes +[05/25 08:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3299 +[05/25 08:32:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3299 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 08:32:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3299 +[05/25 08:32:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3299: 0/1 successful episodes +[05/25 08:32:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3362 (index 69/121) +[05/25 08:32:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:32:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 08:32:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:33:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 3362 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=True +[05/25 08:34:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3362: 1 episodes +[05/25 08:34:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 319 timesteps +[05/25 08:34:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:34:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3362 +[05/25 08:34:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3362 in 2.65s (batch: 2.55s, save: 0.10s) +[05/25 08:34:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3362 +[05/25 08:34:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3362: 1/1 successful episodes +[05/25 08:34:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3407 (index 70/121) +[05/25 08:34:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:34:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 08:34:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:36:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3407 episode 0 object objadecorativestake_f4ce2fea0b744e0a98b2073b00efd5dc_1_0_2 completed with success=False +[05/25 08:36:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3407: 1 episodes +[05/25 08:36:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:36:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:36:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3407 +[05/25 08:36:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3407 in 2.95s (batch: 2.81s, save: 0.14s) +[05/25 08:36:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3407 +[05/25 08:36:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3407: 0/1 successful episodes +[05/25 08:36:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3463 (index 71/121) +[05/25 08:36:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:36:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 08:36:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetext_4b33cf70ffca4b95829bec5548eb00f1_2_0_4 in scene +[05/25 08:36:12 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_e39b26ad821ce047b69262973c668c88_1_0_4 in scene +[05/25 08:38:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3463 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_7 completed with success=False +[05/25 08:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3463: 1 episodes +[05/25 08:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:38:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:38:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3463 +[05/25 08:38:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3463 in 3.00s (batch: 2.85s, save: 0.15s) +[05/25 08:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3463 +[05/25 08:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3463: 0/1 successful episodes +[05/25 08:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3490 (index 72/121) +[05/25 08:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 08:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:40:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3490 episode 0 object objapuzzlepiece_1cf1d2bda5a446bd92617b2989f7f408_1_0_2 completed with success=False +[05/25 08:40:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3490: 1 episodes +[05/25 08:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3490 +[05/25 08:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3490 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 08:40:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3490 +[05/25 08:40:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3490: 0/1 successful episodes +[05/25 08:40:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3525 (index 73/121) +[05/25 08:40:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3525 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:40:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 08:40:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:42:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3525 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_6 completed with success=False +[05/25 08:42:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3525: 1 episodes +[05/25 08:42:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:42:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:42:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3525 +[05/25 08:42:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3525 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 08:42:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3525 +[05/25 08:42:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3525: 0/1 successful episodes +[05/25 08:42:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3560 (index 74/121) +[05/25 08:42:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:42:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 08:42:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:43:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3560 episode 0 object objanutcracker_6c5d5625b437407ca52ebe2f342307ad_1_0_6 completed with success=True +[05/25 08:43:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3560: 1 episodes +[05/25 08:43:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 137 timesteps +[05/25 08:43:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:43:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3560 +[05/25 08:43:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3560 in 2.48s (batch: 2.44s, save: 0.05s) +[05/25 08:43:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3560 +[05/25 08:43:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3560: 1/1 successful episodes +[05/25 08:43:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3590 (index 75/121) +[05/25 08:43:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:43:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:43:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:45:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3590 episode 0 object objarobotichand_f9ef05feed74414cbb7db55ebbcf3286_1_0_2 completed with success=False +[05/25 08:45:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:45:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3590 episode 1 object objacameralens_3c9afba12cd94e2694c5213c271d579e_1_0_2 completed with success=True +[05/25 08:45:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3590: 2 episodes +[05/25 08:45:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:45:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/25 08:45:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3590 +[05/25 08:45:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3590 in 5.13s (batch: 4.99s, save: 0.13s) +[05/25 08:45:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3590 +[05/25 08:45:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3590: 1/2 successful episodes +[05/25 08:45:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3606 (index 76/121) +[05/25 08:45:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:45:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:47:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3606 episode 0 object objagemstone_0e89110673274bb2bc64ef9331b00e07_1_0_6 completed with success=False +[05/25 08:47:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3606: 1 episodes +[05/25 08:47:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:47:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:47:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3606 +[05/25 08:47:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3606 in 2.81s (batch: 2.68s, save: 0.12s) +[05/25 08:47:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3606 +[05/25 08:47:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3606: 0/1 successful episodes +[05/25 08:47:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3635 (index 77/121) +[05/25 08:47:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:47:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[05/25 08:50:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3635 episode 0 object objatrophy_703654858927479da6d5bd52c76d1411_1_0_6 completed with success=False +[05/25 08:50:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3635: 1 episodes +[05/25 08:50:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:50:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:50:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3635 +[05/25 08:50:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3635 in 3.01s (batch: 2.88s, save: 0.13s) +[05/25 08:50:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3635 +[05/25 08:50:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3635: 0/1 successful episodes +[05/25 08:50:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3665 (index 78/121) +[05/25 08:50:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:50:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 08:50:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:50:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=True +[05/25 08:50:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3665: 1 episodes +[05/25 08:50:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/25 08:50:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:50:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3665 +[05/25 08:50:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3665 in 2.41s (batch: 2.36s, save: 0.04s) +[05/25 08:50:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3665 +[05/25 08:50:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3665: 1/1 successful episodes +[05/25 08:50:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 79/121) +[05/25 08:50:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:50:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 08:50:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/25 08:50:45 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +[05/25 08:50:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object objadecorativepiece_e3bd19067e41447894a938d91c423301_1_0_7 completed with success=False +[05/25 08:52:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/25 08:52:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:52:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:52:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3723 +[05/25 08:52:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 2.94s (batch: 2.83s, save: 0.11s) +[05/25 08:52:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/25 08:52:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/25 08:52:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3761 (index 80/121) +[05/25 08:52:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:52:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3761 episode 0 object objagardenhosenozzle_8a7488f4f48b4ebca57c0cb3d485c697_1_0_2 completed with success=True +[05/25 08:53:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3761: 1 episodes +[05/25 08:53:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/25 08:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:54:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3761 +[05/25 08:54:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3761 in 2.57s (batch: 2.50s, save: 0.06s) +[05/25 08:54:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3761 +[05/25 08:54:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3761: 1/1 successful episodes +[05/25 08:54:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3814 (index 81/121) +[05/25 08:54:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3814 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:54:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/25 08:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:56:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 3814 episode 0 object objaapple_db4defc696c349f5abe5a99d00abc9d4_1_0_8 completed with success=False +[05/25 08:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3814: 1 episodes +[05/25 08:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3814 +[05/25 08:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3814 in 2.83s (batch: 2.72s, save: 0.11s) +[05/25 08:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3814 +[05/25 08:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3814: 0/1 successful episodes +[05/25 08:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3846 (index 82/121) +[05/25 08:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 08:56:33 Worker 0 WARNING object_manager.py:1238] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_8 in scene +[05/25 08:56:33 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_8 in scene +[05/25 08:59:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3846 episode 0 object objacomputermouse_f017c73a85484b6da3a66ec1cda70c71_1_0_4 completed with success=False +[05/25 08:59:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3846: 1 episodes +[05/25 08:59:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:59:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:59:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3846 +[05/25 08:59:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3846 in 2.82s (batch: 2.69s, save: 0.13s) +[05/25 08:59:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3846 +[05/25 08:59:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3846: 0/1 successful episodes +[05/25 08:59:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3877 (index 83/121) +[05/25 08:59:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3877 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:59:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/25 08:59:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:01:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3877 episode 0 object objagrenade_55ba03e41ae84ee09f938f062bfe211b_1_0_4 completed with success=False +[05/25 09:01:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3877: 1 episodes +[05/25 09:01:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:01:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:01:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3877 +[05/25 09:01:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3877 in 2.98s (batch: 2.86s, save: 0.11s) +[05/25 09:01:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3877 +[05/25 09:01:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3877: 0/1 successful episodes +[05/25 09:01:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3899 (index 84/121) +[05/25 09:01:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:01:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objacableorganizer_10fc66b44e6a4f1f84c170a4acbd02ba_1_0_5 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/25 09:01:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:04:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3899 episode 0 object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_4 completed with success=False +[05/25 09:04:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3899: 1 episodes +[05/25 09:04:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:04:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:04:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3899 +[05/25 09:04:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3899 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 09:04:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3899 +[05/25 09:04:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3899: 0/1 successful episodes +[05/25 09:04:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3918 (index 85/121) +[05/25 09:04:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:04:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 09:04:15 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/25 09:04:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +[05/25 09:04:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3918 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 completed with success=False +[05/25 09:06:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3918: 1 episodes +[05/25 09:06:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:06:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3918 +[05/25 09:06:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3918 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 09:06:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3918 +[05/25 09:06:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3918: 0/1 successful episodes +[05/25 09:06:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3965 (index 86/121) +[05/25 09:06:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:06:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:06:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3965 episode 0 object objanohmask_b40fb0a2596f4981978f3e13e1c4fa83_1_0_2 completed with success=True +[05/25 09:06:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3965: 1 episodes +[05/25 09:06:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 80 timesteps +[05/25 09:06:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3965 +[05/25 09:06:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3965 in 2.37s (batch: 2.32s, save: 0.05s) +[05/25 09:06:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3965 +[05/25 09:06:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3965: 1/1 successful episodes +[05/25 09:06:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3998 (index 87/121) +[05/25 09:06:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3998 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:06:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:06:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:08:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3998 episode 0 object objasoap_5df52b78e98c4885bf45a4c6fd76cfd6_1_0_2 completed with success=False +[05/25 09:08:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3998: 1 episodes +[05/25 09:08:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:08:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:08:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3998 +[05/25 09:08:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3998 in 2.91s (batch: 2.80s, save: 0.11s) +[05/25 09:08:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3998 +[05/25 09:08:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3998: 0/1 successful episodes +[05/25 09:08:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4032 (index 88/121) +[05/25 09:08:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:08:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 09:08:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaeducationalposter_87bcea3b8fe4423ea094501dee33da1e_1_0_8 in scene +[05/25 09:08:52 Worker 0 WARNING object_manager.py:1238] Could not find object cup_76578ead9f14d0b2b3be33d684f6a9e0_1_0_8 in scene +[05/25 09:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4032 episode 0 object objapackaging_2463f68deba24beb98ca96d209f91468_1_0_9 completed with success=False +[05/25 09:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4032: 1 episodes +[05/25 09:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:10:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:10:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4032 +[05/25 09:10:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4032 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 09:10:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4032 +[05/25 09:10:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4032: 0/1 successful episodes +[05/25 09:10:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 89/121) +[05/25 09:10:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:10:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:12:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/25 09:12:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/25 09:12:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:13:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4086 +[05/25 09:13:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 2.77s (batch: 2.67s, save: 0.10s) +[05/25 09:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/25 09:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/25 09:13:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4148 (index 90/121) +[05/25 09:13:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:13:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 09:14:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4148 episode 0 object objapuzzletoy_854a432ad32a4a51a503b865b010b3ca_1_0_6 completed with success=True +[05/25 09:14:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4148: 1 episodes +[05/25 09:14:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 197 timesteps +[05/25 09:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4148 +[05/25 09:14:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4148 in 2.56s (batch: 2.47s, save: 0.09s) +[05/25 09:14:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4148 +[05/25 09:14:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4148: 1/1 successful episodes +[05/25 09:14:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4188 (index 91/121) +[05/25 09:14:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 09:14:29 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene +[05/25 09:14:29 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_7 in scene +[05/25 09:14:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:16:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4188 episode 0 object objapickleballpaddle_4b1450f846db43a7a5721afb29b8d86c_1_0_4 completed with success=False +[05/25 09:16:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4188: 1 episodes +[05/25 09:16:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:16:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:16:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4188 +[05/25 09:16:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4188 in 3.02s (batch: 2.87s, save: 0.14s) +[05/25 09:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4188 +[05/25 09:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4188: 0/1 successful episodes +[05/25 09:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4240 (index 92/121) +[05/25 09:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 09:16:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +[05/25 09:18:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False +[05/25 09:18:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4240: 1 episodes +[05/25 09:18:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:19:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:19:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4240 +[05/25 09:19:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4240 in 2.70s (batch: 2.60s, save: 0.11s) +[05/25 09:19:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4240 +[05/25 09:19:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4240: 0/1 successful episodes +[05/25 09:19:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 93/121) +[05/25 09:19:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:19:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/25 09:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene +[05/25 09:19:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:21:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_4 completed with success=False +[05/25 09:21:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes +[05/25 09:21:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:21:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:21:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4290 +[05/25 09:21:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.82s (batch: 2.69s, save: 0.13s) +[05/25 09:21:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290 +[05/25 09:21:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes +[05/25 09:21:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4335 (index 94/121) +[05/25 09:21:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4335 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:21:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 09:24:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4335 episode 0 object objapackagedfood_e93712a57d6946fdab4622c3d62ababc_1_0_8 completed with success=False +[05/25 09:24:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4335: 1 episodes +[05/25 09:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4335 +[05/25 09:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4335 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 09:24:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4335 +[05/25 09:24:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4335: 0/1 successful episodes +[05/25 09:24:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4398 (index 95/121) +[05/25 09:24:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:24:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 09:24:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[05/25 09:26:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4398 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_2_0_2 completed with success=False +[05/25 09:26:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4398: 1 episodes +[05/25 09:26:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:26:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:26:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4398 +[05/25 09:26:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4398 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 09:26:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4398 +[05/25 09:26:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4398: 0/1 successful episodes +[05/25 09:26:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4444 (index 96/121) +[05/25 09:26:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:26:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 09:26:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 09:26:31 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene +[05/25 09:26:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:28:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4444 episode 0 object objatelegraphkey_a5b108e3132d46b696c36310c2314ed8_1_0_4 completed with success=False +[05/25 09:28:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4444: 1 episodes +[05/25 09:28:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:28:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:28:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4444 +[05/25 09:28:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4444 in 2.85s (batch: 2.74s, save: 0.11s) +[05/25 09:28:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4444 +[05/25 09:28:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4444: 0/1 successful episodes +[05/25 09:28:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4495 (index 97/121) +[05/25 09:28:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:28:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:30:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4495 episode 0 object objakettle_153cd8b6d4094e9c95a4c3addbeb118c_1_0_6 completed with success=False +[05/25 09:30:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4495: 1 episodes +[05/25 09:30:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:30:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4495 +[05/25 09:30:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4495 in 2.91s (batch: 2.81s, save: 0.10s) +[05/25 09:30:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4495 +[05/25 09:30:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4495: 0/1 successful episodes +[05/25 09:30:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4536 (index 98/121) +[05/25 09:30:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:30:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 09:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_8c2887320948bf2580f27f36caf806e5_1_0_6 in scene +[05/25 09:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_7 in scene +[05/25 09:30:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4536 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False +[05/25 09:33:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4536: 1 episodes +[05/25 09:33:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:33:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:33:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4536 +[05/25 09:33:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4536 in 3.17s (batch: 3.04s, save: 0.13s) +[05/25 09:33:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4536 +[05/25 09:33:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4536: 0/1 successful episodes +[05/25 09:33:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4571 (index 99/121) +[05/25 09:33:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 09:35:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4571 episode 0 object objascrewdriver_379c730e677b4a5993603d8ec625f10b_1_0_9 completed with success=False +[05/25 09:35:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4571: 1 episodes +[05/25 09:35:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4571 +[05/25 09:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4571 in 2.89s (batch: 2.74s, save: 0.15s) +[05/25 09:35:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4571 +[05/25 09:35:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4571: 0/1 successful episodes +[05/25 09:35:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4623 (index 100/121) +[05/25 09:35:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:35:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:38:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4623 episode 0 object objaminiaturewindmill_429be92f26d64734b562e42f440aa81f_2_0_8 completed with success=False +[05/25 09:38:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4623: 1 episodes +[05/25 09:38:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:38:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:38:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4623 +[05/25 09:38:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4623 in 2.99s (batch: 2.83s, save: 0.17s) +[05/25 09:39:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4623 +[05/25 09:39:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4623: 0/1 successful episodes +[05/25 09:39:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4706 (index 101/121) +[05/25 09:39:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:39:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +[05/25 09:39:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:41:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4706 episode 0 object objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_9 completed with success=False +[05/25 09:41:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4706: 1 episodes +[05/25 09:41:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:41:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:41:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4706 +[05/25 09:41:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4706 in 2.85s (batch: 2.72s, save: 0.13s) +[05/25 09:41:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4706 +[05/25 09:41:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4706: 0/1 successful episodes +[05/25 09:41:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4757 (index 102/121) +[05/25 09:41:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4757 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:41:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/25 09:41:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:43:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4757 episode 0 object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 completed with success=False +[05/25 09:43:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4757: 1 episodes +[05/25 09:43:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:43:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:43:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4757 +[05/25 09:43:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4757 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 09:43:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4757 +[05/25 09:43:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4757: 0/1 successful episodes +[05/25 09:43:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 103/121) +[05/25 09:43:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:43:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 09:43:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:43:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_2 completed with success=True +[05/25 09:43:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes +[05/25 09:43:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/25 09:44:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:44:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4807 +[05/25 09:44:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.42s (batch: 2.37s, save: 0.04s) +[05/25 09:44:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807 +[05/25 09:44:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 1/1 successful episodes +[05/25 09:44:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 104/121) +[05/25 09:44:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:44:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:44:08 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/25 09:44:08 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[05/25 09:46:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_6 completed with success=False +[05/25 09:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:46:43 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/25 09:46:43 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[05/25 09:46:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objagem_51446bf7bc5a486abb1475f15eac6f64_1_0_9 completed with success=False +[05/25 09:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/25 09:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:48:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:48:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4837 +[05/25 09:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 5.21s (batch: 5.01s, save: 0.20s) +[05/25 09:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/25 09:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/25 09:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4853 (index 105/121) +[05/25 09:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:48:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:48:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4853 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_2 completed with success=True +[05/25 09:49:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4853: 1 episodes +[05/25 09:49:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/25 09:49:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:49:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4853 +[05/25 09:49:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4853 in 2.31s (batch: 2.27s, save: 0.04s) +[05/25 09:49:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4853 +[05/25 09:49:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4853: 1/1 successful episodes +[05/25 09:49:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4902 (index 106/121) +[05/25 09:49:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:49:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 09:49:14 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_9 in scene +[05/25 09:49:14 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_9 in scene +[05/25 09:49:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:52:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4902 episode 0 object objagraphicscard_21a315ccf5a345efbcb94fe50a83a1b9_1_0_7 completed with success=False +[05/25 09:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4902: 1 episodes +[05/25 09:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:52:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4902 +[05/25 09:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4902 in 2.96s (batch: 2.84s, save: 0.13s) +[05/25 09:52:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4902 +[05/25 09:52:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4902: 0/1 successful episodes +[05/25 09:52:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 107/121) +[05/25 09:52:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:52:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:52:38 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[05/25 09:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:53:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=True +[05/25 09:53:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 1 episodes +[05/25 09:53:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 09:53:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:53:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4954 +[05/25 09:53:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 2.52s (batch: 2.47s, save: 0.05s) +[05/25 09:53:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954 +[05/25 09:53:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 1/1 successful episodes +[05/25 09:53:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4992 (index 108/121) +[05/25 09:53:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:53:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/25 09:53:12 Worker 0 WARNING object_manager.py:1238] Could not find object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_6 in scene +[05/25 09:53:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:55:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4992 episode 0 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_2 completed with success=False +[05/25 09:55:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4992: 1 episodes +[05/25 09:55:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:55:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:55:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4992 +[05/25 09:55:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4992 in 2.90s (batch: 2.79s, save: 0.11s) +[05/25 09:55:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4992 +[05/25 09:55:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4992: 0/1 successful episodes +[05/25 09:55:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 109/121) +[05/25 09:55:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:55:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:57:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 completed with success=False +[05/25 09:57:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes +[05/25 09:57:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:57:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:57:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5020 +[05/25 09:57:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 2.84s (batch: 2.74s, save: 0.10s) +[05/25 09:57:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020 +[05/25 09:57:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes +[05/25 09:57:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 110/121) +[05/25 09:57:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:57:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 09:59:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_6 completed with success=False +[05/25 10:00:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 1 episodes +[05/25 10:00:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:00:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:00:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5059 +[05/25 10:00:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 3.03s (batch: 2.93s, save: 0.11s) +[05/25 10:00:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059 +[05/25 10:00:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/1 successful episodes +[05/25 10:00:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5118 (index 111/121) +[05/25 10:00:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:00:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 10:02:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5118 episode 0 object objadigitalcamera_c8c3f307e93f4c829d579d1b369e6b02_1_0_8 completed with success=False +[05/25 10:02:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5118: 1 episodes +[05/25 10:02:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5118 +[05/25 10:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5118 in 2.87s (batch: 2.77s, save: 0.10s) +[05/25 10:02:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5118 +[05/25 10:02:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5118: 0/1 successful episodes +[05/25 10:02:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5145 (index 112/121) +[05/25 10:02:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:02:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 10:03:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene +[05/25 10:03:03 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene +[05/25 10:03:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:05:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 5145 episode 0 object objadecorativenumeral_bd77a44afd8c4ecdbec6e2f07da0094a_1_0_6 completed with success=False +[05/25 10:05:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5145: 1 episodes +[05/25 10:05:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:05:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:05:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5145 +[05/25 10:05:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5145 in 2.73s (batch: 2.63s, save: 0.10s) +[05/25 10:05:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5145 +[05/25 10:05:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5145: 0/1 successful episodes +[05/25 10:05:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5198 (index 113/121) +[05/25 10:05:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:05:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 10:05:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:05:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5198 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_7 completed with success=True +[05/25 10:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5198: 1 episodes +[05/25 10:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 10:05:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:05:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5198 +[05/25 10:05:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5198 in 2.45s (batch: 2.41s, save: 0.04s) +[05/25 10:05:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5198 +[05/25 10:05:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5198: 1/1 successful episodes +[05/25 10:05:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5228 (index 114/121) +[05/25 10:05:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:05:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 10:05:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5228 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_7 completed with success=False +[05/25 10:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5228: 1 episodes +[05/25 10:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:07:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:07:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5228 +[05/25 10:07:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5228 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 10:07:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5228 +[05/25 10:07:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5228: 0/1 successful episodes +[05/25 10:07:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5259 (index 115/121) +[05/25 10:07:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:07:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 10:07:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:09:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5259 episode 0 object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 completed with success=False +[05/25 10:09:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5259: 1 episodes +[05/25 10:09:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:09:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:09:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5259 +[05/25 10:09:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5259 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 10:09:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5259 +[05/25 10:09:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5259: 0/1 successful episodes +[05/25 10:09:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5289 (index 116/121) +[05/25 10:09:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:09:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 10:09:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadentalmodel_82c94eec587c40fba0337908782c4491_1_0_6 in scene +[05/25 10:09:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabullet_4cc75b7ef1bc474392c319a47fd97348_1_0_6 in scene +[05/25 10:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5289 episode 0 object objamedal_73d4a3206020448983a364fee39f9a0b_1_0_7 completed with success=False +[05/25 10:11:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5289: 1 episodes +[05/25 10:11:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:11:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:11:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5289 +[05/25 10:11:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5289 in 2.77s (batch: 2.66s, save: 0.11s) +[05/25 10:11:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5289 +[05/25 10:11:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5289: 0/1 successful episodes +[05/25 10:11:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5316 (index 117/121) +[05/25 10:11:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:11:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 10:11:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene +[05/25 10:11:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_3 in scene +[05/25 10:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:13:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5316 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_2 completed with success=False +[05/25 10:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5316: 1 episodes +[05/25 10:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5316 +[05/25 10:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5316 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 10:13:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5316 +[05/25 10:13:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5316: 0/1 successful episodes +[05/25 10:13:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5351 (index 118/121) +[05/25 10:13:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:13:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 10:13:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:13:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5351 episode 0 object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_6 completed with success=True +[05/25 10:13:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5351: 1 episodes +[05/25 10:13:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 23 timesteps +[05/25 10:13:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:13:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5351 +[05/25 10:13:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5351 in 2.25s (batch: 2.22s, save: 0.03s) +[05/25 10:13:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5351 +[05/25 10:13:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5351: 1/1 successful episodes +[05/25 10:13:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 119/121) +[05/25 10:13:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:13:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 10:15:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_5 completed with success=False +[05/25 10:15:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/25 10:15:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:15:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:15:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5387 +[05/25 10:15:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.58s (batch: 2.48s, save: 0.10s) +[05/25 10:15:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/25 10:15:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/25 10:15:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 120/121) +[05/25 10:15:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:15:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 10:15:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/25 10:15:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[05/25 10:18:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objadecorativeleaf_367a7c3c6f9347d89389183a7d2861e7_1_0_8 completed with success=False +[05/25 10:18:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/25 10:18:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:18:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:18:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5453 +[05/25 10:18:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.56s (batch: 2.46s, save: 0.09s) +[05/25 10:18:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/25 10:18:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/25 10:18:17 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/25 10:18:18 INFO pipeline.py:1496] Completed 121 houses, skipped 0 houses +[05/25 10:18:18 INFO pipeline.py:1499] Success count: 31, Total count: 125 +[05/25 10:18:18 INFO pipeline.py:1500] Success rate: 24.80% +Combined 125 episodes from 121 files → /tmp/tmp85ldwatc.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv at-end: 24.8% | oracle: 24.8% of 125 episodes +[2026-05-25 10:18:31,417] INFO MolmoSpaces simulator eval finished: success=31/125 rate=0.2480 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval +[2026-05-25 10:18:31,417] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv diff --git a/pick_randcam/pick_randcam/shards/shard_05/eval/eval_meta.json b/pick_randcam/pick_randcam/shards/shard_05/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3987f859f5da92a8a2ea88bfafde77f223ee0b --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv" +} diff --git a/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv b/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..8a0b0ec237ac2df7bc875b822b165d23b2735adc --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv @@ -0,0 +1,121 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Candle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,61.591564,12.536038 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,73.941929,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.864104,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.921143,0.0 +latest,Objaabstractfigure,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,209.254329,26.597832 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.176075,0.0 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,128.050683,0.0 +latest,Objaapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,132.124732,0.0 +latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,192.464246,0.0 +latest,Objabookmark,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,151.455561,52.349693 +latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.810984,0.0 +latest,Objabowtie,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,87.316012,0.0 +latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.85365,0.0 +latest,Objacameralens,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,107.158444,0.0 +latest,Objacap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.52527,0.0 +latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,175.794482,0.0 +latest,Objachisel,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,141.658893,15.590725 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.300725,0.0 +latest,Objaclaydish,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,62.923034,0.0 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"episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange rectangular whistle", "object_name": "objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4706/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_475", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic ratchet wrench with green handle", "object_name": "objaratchetwrench_aa7f0ee6602d4e979f6dca5a8e7d3db8_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_475/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4757", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paper nailed to wooden post", "object_name": "objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4757/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4807", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 68, "task_description": "Pick up the brown wooden yo-yo", "object_name": "objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4807/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black collar with spikes", "object_name": "objacollar_eb320910987847f0b361c8c1936d9574_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange diamond gem", "object_name": "objagem_51446bf7bc5a486abb1475f15eac6f64_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4853", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the mechanicalmodel", "object_name": "objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and silver rtx 3080 graphics card", "object_name": "objagraphicscard_21a315ccf5a345efbcb94fe50a83a1b9_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4954", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the metal lever on base", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4992", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow wooden pencil", "object_name": "pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4992/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden chisel with blade", "object_name": "objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5020/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5059", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the network switch", "object_name": "objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5118", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the photographic camera", "object_name": "objadigitalcamera_c8c3f307e93f4c829d579d1b369e6b02_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5145", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green number two", "object_name": "objadecorativenumeral_bd77a44afd8c4ecdbec6e2f07da0094a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5145/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5198", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the weathered metal vintage megaphone with handle", "object_name": "objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5198/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5228", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow mother's day card with snoopy", "object_name": "objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5228/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5259", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the open-ended semi-circular metallic band", "object_name": "objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5259/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medal", "object_name": "objamedal_73d4a3206020448983a364fee39f9a0b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5289/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_530", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow round gray stone dish", "object_name": "objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_530/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5316", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5316/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5351", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 21, "task_description": "Pick up the blue vintage portable radio with handle", "object_name": "objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5351/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden caduceus with serpents and wings", "object_name": "objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5453", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white leaf", "object_name": "objadecorativeleaf_367a7c3c6f9347d89389183a7d2861e7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5453/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_randcam/pick_randcam/shards/shard_05/submission/eval.log b/pick_randcam/pick_randcam/shards/shard_05/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8145e31bc61fbc037cdb4651d9fbfdca61369581 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/submission/eval.log @@ -0,0 +1,3973 @@ +[2026-05-25 06:17:08,770] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-25 06:17:08,836] INFO Selected MuJoCo backend: egl +[2026-05-25 06:17:08,875] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 (source=arg) +[2026-05-25 06:17:11,219] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-25 06:17:20,757] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-25 06:21:39,627] INFO Using save_video_sensors=['__none__'] +[2026-05-25 06:21:44,333] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-25 06:21:44,387] INFO Using explicit task_horizon override: 450 steps +[05/25 06:21:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-25 06:21:44,427] INFO JsonEvalRunner initialized: 121 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:21:44 INFO pipeline.py:1279] Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes +[05/25 06:21:44 INFO pipeline.py:1286] Evaluation configuration: +[05/25 06:21:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [101, + 169, + 203, + 254, + 304, + 377, + 416, + 446, + 475, + 530, + 1032, + 1073, + 1107, + 1159, + 1219, + 1270, + 1299, + 1326, + 1355, + 1381, + 1408, + 1420, + 1498, + 1555, + 1604, + 1651, + 1686, + 1722, + 1763, + 1810, + 1872, + 1907, + 1937, + 1955, + 1993, + 2026, + 2059, + 2101, + 2135, + 2157, + 2191, + 2218, + 2247, + 2298, + 2351, + 2391, + 2415, + 2462, + 2503, + 2541, + 2585, + 2623, + 2653, + 2695, + 2728, + 2766, + 2807, + 2846, + 2875, + 2915, + 2970, + 3019, + 3045, + 3103, + 3180, + 3211, + 3241, + 3273, + 3299, + 3362, + 3407, + 3463, + 3490, + 3525, + 3560, + 3590, + 3606, + 3635, + 3665, + 3723, + 3761, + 3814, + 3846, + 3877, + 3899, + 3918, + 3965, + 3998, + 4032, + 4086, + 4148, + 4188, + 4240, + 4290, + 4335, + 4398, + 4444, + 4495, + 4536, + 4571, + 4623, + 4706, + 4757, + 4807, + 4837, + 4853, + 4902, + 4954, + 4992, + 5020, + 5059, + 5118, + 5145, + 5198, + 5228, + 5259, + 5289, + 5316, + 5351, + 5387, + 5453], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-25 06:21:44,432] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +[05/25 06:21:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/25 06:21:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 101 (index 0/121) +[05/25 06:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/25 06:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene +[05/25 06:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_5 in scene +2026-05-25 06:22:02.319 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-25 06:22:25,731] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-25 06:22:26,169] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-25 06:23:32,773] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-25 06:23:40,296] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-25 06:23:40,299] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/25 06:26:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 completed with success=False +[05/25 06:26:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_101: 1 episodes +[05/25 06:26:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:26:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:26:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_101 +[05/25 06:26:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_101 in 2.71s (batch: 2.61s, save: 0.10s) +[05/25 06:26:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_101 +[05/25 06:26:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 101: 0/1 successful episodes +[05/25 06:26:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 169 (index 1/121) +[05/25 06:26:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:26:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:26:16 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene +[05/25 06:26:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 06:26:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:28:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 0 object objainvitationcard_24b2de2ae5ff4cbba9bdaa2b33b109ee_2_0_6 completed with success=False +[05/25 06:28:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_169: 1 episodes +[05/25 06:28:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:28:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:28:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_169 +[05/25 06:28:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_169 in 2.95s (batch: 2.83s, save: 0.12s) +[05/25 06:28:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_169 +[05/25 06:28:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 169: 0/1 successful episodes +[05/25 06:28:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 203 (index 2/121) +[05/25 06:28:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:28:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 06:30:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 0 object objadigitalcamera_485a9d31df964df4b3ddf75c8513eead_1_0_2 completed with success=False +[05/25 06:30:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_203: 1 episodes +[05/25 06:30:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:30:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:30:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_203 +[05/25 06:30:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_203 in 3.01s (batch: 2.91s, save: 0.10s) +[05/25 06:30:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_203 +[05/25 06:30:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 203: 0/1 successful episodes +[05/25 06:30:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 254 (index 3/121) +[05/25 06:30:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:30:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 06:30:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_9525cde4b189451289432e3f98ffc90d_1_0_7 in scene +[05/25 06:30:49 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_7 in scene +[05/25 06:33:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 254 episode 0 object objavirtualrealitygoggles_99bdd66f6a6745a98f4bee07963480ee_1_0_4 completed with success=False +[05/25 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_254: 1 episodes +[05/25 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_254 +[05/25 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_254 in 3.06s (batch: 2.93s, save: 0.13s) +[05/25 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_254 +[05/25 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 254: 0/1 successful episodes +[05/25 06:33:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 304 (index 4/121) +[05/25 06:33:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:33:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 06:33:21 Worker 0 WARNING object_manager.py:1238] Could not find object objafood_3fe13164a6074993a8670a22d8feec41_1_0_2 in scene +[05/25 06:33:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/25 06:33:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:35:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 304 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_1_0_2 completed with success=False +[05/25 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_304: 1 episodes +[05/25 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_304 +[05/25 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_304 in 2.67s (batch: 2.58s, save: 0.10s) +[05/25 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_304 +[05/25 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 304: 0/1 successful episodes +[05/25 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 377 (index 5/121) +[05/25 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:35:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamount_b44ed71003e149cc98576162a09d588c_2_0_8 in scene +[05/25 06:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 377 episode 0 object objaprimitivetool_4dfb6ac9b577431783a05825f9ffd8ff_1_0_3 completed with success=False +[05/25 06:37:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_377: 1 episodes +[05/25 06:37:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:37:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:37:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_377 +[05/25 06:37:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_377 in 2.97s (batch: 2.87s, save: 0.10s) +[05/25 06:37:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_377 +[05/25 06:37:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 377: 0/1 successful episodes +[05/25 06:37:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 416 (index 6/121) +[05/25 06:37:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 06:38:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:38:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 416 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_2 completed with success=True +[05/25 06:38:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_416: 1 episodes +[05/25 06:38:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/25 06:38:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:38:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_416 +[05/25 06:38:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_416 in 2.50s (batch: 2.45s, save: 0.04s) +[05/25 06:38:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_416 +[05/25 06:38:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 416: 1/1 successful episodes +[05/25 06:38:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 446 (index 7/121) +[05/25 06:38:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 446 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:38:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 06:38:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:40:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 0 object objadraincover_568b96b1661844cb816633d29f722ccb_1_0_5 completed with success=False +[05/25 06:40:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_446: 1 episodes +[05/25 06:40:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:40:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:40:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_446 +[05/25 06:40:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_446 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 06:40:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_446 +[05/25 06:40:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 446: 0/1 successful episodes +[05/25 06:40:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 475 (index 8/121) +[05/25 06:40:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:40:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 06:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 475 episode 0 object objaratchetwrench_aa7f0ee6602d4e979f6dca5a8e7d3db8_2_0_7 completed with success=False +[05/25 06:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_475: 1 episodes +[05/25 06:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:43:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_475 +[05/25 06:43:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_475 in 2.76s (batch: 2.65s, save: 0.11s) +[05/25 06:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_475 +[05/25 06:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 475: 0/1 successful episodes +[05/25 06:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 530 (index 9/121) +[05/25 06:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 530 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:45:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 530 episode 0 object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_4 completed with success=False +[05/25 06:45:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_530: 1 episodes +[05/25 06:45:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:45:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:45:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_530 +[05/25 06:45:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_530 in 2.66s (batch: 2.57s, save: 0.09s) +[05/25 06:45:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_530 +[05/25 06:45:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 530: 0/1 successful episodes +[05/25 06:45:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1032 (index 10/121) +[05/25 06:45:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:45:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:47:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1032 episode 0 object objahairaccessory_7934fe02dc2a40f39e08f53e0d19ec61_1_0_3 completed with success=False +[05/25 06:47:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1032: 1 episodes +[05/25 06:47:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:47:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:47:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1032 +[05/25 06:47:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1032 in 2.74s (batch: 2.63s, save: 0.11s) +[05/25 06:47:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1032 +[05/25 06:47:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1032: 0/1 successful episodes +[05/25 06:47:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1073 (index 11/121) +[05/25 06:47:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1073 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:47:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene +[05/25 06:47:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/25 06:49:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1073 episode 0 object objacombinationwrench_2dae5fa80a454d2a9ddf4e8167fcdf61_2_0_3 completed with success=False +[05/25 06:50:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1073: 1 episodes +[05/25 06:50:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:50:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:50:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1073 +[05/25 06:50:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1073 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 06:50:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1073 +[05/25 06:50:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1073: 0/1 successful episodes +[05/25 06:50:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1107 (index 12/121) +[05/25 06:50:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:50:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/25 06:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 in scene +[05/25 06:50:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:52:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1107 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False +[05/25 06:52:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1107: 1 episodes +[05/25 06:52:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:52:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:52:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1107 +[05/25 06:52:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1107 in 3.02s (batch: 2.90s, save: 0.12s) +[05/25 06:52:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1107 +[05/25 06:52:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1107: 0/1 successful episodes +[05/25 06:52:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1159 (index 13/121) +[05/25 06:52:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:52:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 06:52:31 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene +[05/25 06:52:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 06:52:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1159 episode 0 object objafoodpackage_f58c3fdf6e5f41ddae3b6b3e2d7fbae7_1_0_6 completed with success=False +[05/25 06:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1159: 1 episodes +[05/25 06:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1159 +[05/25 06:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1159 in 2.91s (batch: 2.79s, save: 0.12s) +[05/25 06:54:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1159 +[05/25 06:54:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1159: 0/1 successful episodes +[05/25 06:54:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1219 (index 14/121) +[05/25 06:54:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:54:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 06:55:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:57:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1219 episode 0 object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 completed with success=True +[05/25 06:57:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1219: 1 episodes +[05/25 06:57:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 398 timesteps +[05/25 06:57:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:57:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1219 +[05/25 06:57:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1219 in 2.71s (batch: 2.62s, save: 0.10s) +[05/25 06:57:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1219 +[05/25 06:57:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1219: 1/1 successful episodes +[05/25 06:57:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1270 (index 15/121) +[05/25 06:57:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:57:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 06:57:09 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_2 in scene +[05/25 06:57:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:58:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1270 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_2 completed with success=False +[05/25 06:58:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1270: 1 episodes +[05/25 06:58:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:58:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:58:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1270 +[05/25 06:58:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1270 in 2.67s (batch: 2.58s, save: 0.09s) +[05/25 06:58:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1270 +[05/25 06:58:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1270: 0/1 successful episodes +[05/25 06:58:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1299 (index 16/121) +[05/25 06:58:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 06:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/25 06:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_3 in scene +[05/25 06:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenartifact_897e929421d84f8ab8c03a1d4ecb856b_1_0_3 in scene +[05/25 06:58:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:00:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1299 episode 0 object objadowel_28700f9228684952a789329ef1475cdf_1_0_2 completed with success=False +[05/25 07:00:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1299: 1 episodes +[05/25 07:00:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:00:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:00:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1299 +[05/25 07:00:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1299 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 07:00:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1299 +[05/25 07:00:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1299: 0/1 successful episodes +[05/25 07:00:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1326 (index 17/121) +[05/25 07:00:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:00:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasoilslab_6b3895a77ccc4b92837e992aba5410bd_1_0_6 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/25 07:00:31 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_7 in scene +[05/25 07:00:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:02:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1326 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_9 completed with success=False +[05/25 07:02:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1326: 1 episodes +[05/25 07:02:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1326 +[05/25 07:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1326 in 3.16s (batch: 3.06s, save: 0.10s) +[05/25 07:02:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1326 +[05/25 07:02:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1326: 0/1 successful episodes +[05/25 07:02:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1355 (index 18/121) +[05/25 07:02:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1355 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:02:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:03:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:03:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1355 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_4 completed with success=True +[05/25 07:03:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1355: 1 episodes +[05/25 07:03:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 93 timesteps +[05/25 07:03:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:03:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1355 +[05/25 07:03:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1355 in 2.97s (batch: 2.91s, save: 0.06s) +[05/25 07:03:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1355 +[05/25 07:03:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1355: 1/1 successful episodes +[05/25 07:03:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1381 (index 19/121) +[05/25 07:03:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:03:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 07:03:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1381 episode 0 object objatoyspacecraft_c5979a74b1534661a4fb0412e1d11bdb_1_0_3 completed with success=False +[05/25 07:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1381: 1 episodes +[05/25 07:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:06:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:06:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1381 +[05/25 07:06:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1381 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 07:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1381 +[05/25 07:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1381: 0/1 successful episodes +[05/25 07:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1408 (index 20/121) +[05/25 07:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene +[05/25 07:06:35 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene +[05/25 07:06:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1408 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=True +[05/25 07:07:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_6 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestick_bfca5997cb164b09a6fe04b331dea5c2_1_0_7 in scene +[05/25 07:07:03 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_7 in scene +[05/25 07:07:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1408 episode 1 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_7 completed with success=False +[05/25 07:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1408: 2 episodes +[05/25 07:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/25 07:09:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:09:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1408 +[05/25 07:09:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1408 in 5.50s (batch: 5.35s, save: 0.15s) +[05/25 07:09:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1408 +[05/25 07:09:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1408: 1/2 successful episodes +[05/25 07:09:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1420 (index 21/121) +[05/25 07:09:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 07:09:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:09:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 1420 episode 0 object objachisel_8684f79ad879447cbd64770f6e5faf14_1_0_8 completed with success=True +[05/25 07:09:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1420: 1 episodes +[05/25 07:09:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/25 07:09:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1420 +[05/25 07:09:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1420 in 2.52s (batch: 2.48s, save: 0.04s) +[05/25 07:09:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1420 +[05/25 07:09:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1420: 1/1 successful episodes +[05/25 07:09:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1498 (index 22/121) +[05/25 07:09:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:09:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:09:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:11:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 1498 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_6 completed with success=False +[05/25 07:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1498: 1 episodes +[05/25 07:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:11:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:11:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1498 +[05/25 07:11:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1498 in 2.70s (batch: 2.58s, save: 0.12s) +[05/25 07:11:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1498 +[05/25 07:11:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1498: 0/1 successful episodes +[05/25 07:11:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1555 (index 23/121) +[05/25 07:11:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:11:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:11:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +[05/25 07:11:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 07:11:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:13:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1555 episode 0 object objadigitalcamera_904be230d5ac43a6a9604abc946febc7_1_0_8 completed with success=False +[05/25 07:13:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1555: 1 episodes +[05/25 07:13:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:13:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:13:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1555 +[05/25 07:13:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1555 in 2.63s (batch: 2.54s, save: 0.10s) +[05/25 07:13:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1555 +[05/25 07:13:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1555: 0/1 successful episodes +[05/25 07:13:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1604 (index 24/121) +[05/25 07:13:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1604 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:13:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_2_0_4 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_4 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaspaceshipmodel_6a801458b065464ba743f2374846e192_1_0_6 in scene +[05/25 07:13:48 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_3_0_6 in scene +[05/25 07:14:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1604 episode 0 object objarobotichand_41386ca558bd4bd0a8c72e3ddc3720ba_1_0_7 completed with success=True +[05/25 07:14:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1604: 1 episodes +[05/25 07:14:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/25 07:14:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:14:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1604 +[05/25 07:14:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1604 in 2.43s (batch: 2.39s, save: 0.04s) +[05/25 07:14:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1604 +[05/25 07:14:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1604: 1/1 successful episodes +[05/25 07:14:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1651 (index 25/121) +[05/25 07:14:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:14:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:16:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 1651 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False +[05/25 07:16:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1651: 1 episodes +[05/25 07:16:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:16:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:16:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1651 +[05/25 07:16:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1651 in 2.76s (batch: 2.66s, save: 0.11s) +[05/25 07:16:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1651 +[05/25 07:16:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1651: 0/1 successful episodes +[05/25 07:16:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1686 (index 26/121) +[05/25 07:16:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:16:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:16:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:16:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 1686 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_7 completed with success=True +[05/25 07:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1686: 1 episodes +[05/25 07:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/25 07:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1686 +[05/25 07:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1686 in 2.46s (batch: 2.41s, save: 0.04s) +[05/25 07:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1686 +[05/25 07:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1686: 1/1 successful episodes +[05/25 07:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1722 (index 27/121) +[05/25 07:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:16:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:18:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1722 episode 0 object objareplicaweapon_d5499e5cab3941d0aab137d7f7152534_1_0_6 completed with success=False +[05/25 07:18:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1722: 1 episodes +[05/25 07:18:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:18:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:18:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1722 +[05/25 07:18:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1722 in 2.80s (batch: 2.70s, save: 0.09s) +[05/25 07:18:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1722 +[05/25 07:18:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1722: 0/1 successful episodes +[05/25 07:18:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1763 (index 28/121) +[05/25 07:18:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:18:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/25 07:20:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 1763 episode 0 object objabookmark_19a26ee32f144882806a774b569ea48a_1_0_7 completed with success=False +[05/25 07:20:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1763: 1 episodes +[05/25 07:20:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:20:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:20:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1763 +[05/25 07:20:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1763 in 2.76s (batch: 2.63s, save: 0.13s) +[05/25 07:20:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1763 +[05/25 07:20:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1763: 0/1 successful episodes +[05/25 07:20:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1810 (index 29/121) +[05/25 07:20:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1810 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:20:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[05/25 07:22:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 1810 episode 0 object objafooditem_7d263bf310314339a199810ce968226e_1_0_2 completed with success=False +[05/25 07:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1810: 1 episodes +[05/25 07:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:22:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:22:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1810 +[05/25 07:22:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1810 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 07:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1810 +[05/25 07:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1810: 0/1 successful episodes +[05/25 07:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1872 (index 30/121) +[05/25 07:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 07:22:32 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_4 in scene +[05/25 07:22:32 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/25 07:22:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 1872 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_2_0_6 completed with success=False +[05/25 07:25:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1872: 1 episodes +[05/25 07:25:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:25:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:25:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1872 +[05/25 07:25:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1872 in 2.74s (batch: 2.65s, save: 0.10s) +[05/25 07:25:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1872 +[05/25 07:25:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1872: 0/1 successful episodes +[05/25 07:25:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1907 (index 31/121) +[05/25 07:25:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:25:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 07:28:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1907 episode 0 object objacrucifix_934ff28b55a1448d98046be1d72411f3_1_0_6 completed with success=False +[05/25 07:28:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1907: 1 episodes +[05/25 07:28:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:28:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:28:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1907 +[05/25 07:28:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1907 in 2.67s (batch: 2.57s, save: 0.09s) +[05/25 07:28:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1907 +[05/25 07:28:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1907: 0/1 successful episodes +[05/25 07:28:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1937 (index 32/121) +[05/25 07:28:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:28:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/25 07:28:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 1937 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False +[05/25 07:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1937: 1 episodes +[05/25 07:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:30:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1937 +[05/25 07:30:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1937 in 2.90s (batch: 2.80s, save: 0.09s) +[05/25 07:30:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1937 +[05/25 07:30:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1937: 0/1 successful episodes +[05/25 07:30:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1955 (index 33/121) +[05/25 07:30:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:30:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1955 episode 0 object objalighthouse_8dcb5eb233064c33932b4d36bc69087f_1_0_3 completed with success=False +[05/25 07:32:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1955: 1 episodes +[05/25 07:32:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1955 +[05/25 07:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1955 in 2.71s (batch: 2.59s, save: 0.12s) +[05/25 07:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1955 +[05/25 07:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1955: 0/1 successful episodes +[05/25 07:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1993 (index 34/121) +[05/25 07:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 07:32:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1993 episode 0 object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 completed with success=True +[05/25 07:32:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1993: 1 episodes +[05/25 07:32:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/25 07:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:33:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1993 +[05/25 07:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1993 in 2.42s (batch: 2.39s, save: 0.04s) +[05/25 07:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1993 +[05/25 07:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1993: 1/1 successful episodes +[05/25 07:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2026 (index 35/121) +[05/25 07:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2026 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 07:33:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2026 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_4 completed with success=True +[05/25 07:33:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2026: 1 episodes +[05/25 07:33:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/25 07:33:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:33:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2026 +[05/25 07:33:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2026 in 2.45s (batch: 2.39s, save: 0.06s) +[05/25 07:33:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2026 +[05/25 07:33:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2026: 1/1 successful episodes +[05/25 07:33:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2059 (index 36/121) +[05/25 07:33:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:33:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_935c30c7839142ee804775ac6b01521b_1_0_7 in scene +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_7 in scene +[05/25 07:33:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_7 in scene +[05/25 07:34:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2059 episode 0 object objaflask_a9cbfdae0f6d4b29942b2afdfe44bc65_1_0_4 completed with success=True +[05/25 07:34:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2059: 1 episodes +[05/25 07:34:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/25 07:34:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:34:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2059 +[05/25 07:34:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2059 in 2.39s (batch: 2.36s, save: 0.04s) +[05/25 07:34:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2059 +[05/25 07:34:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2059: 1/1 successful episodes +[05/25 07:34:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2101 (index 37/121) +[05/25 07:34:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:34:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:34:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2101 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False +[05/25 07:36:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2101: 1 episodes +[05/25 07:36:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:36:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:36:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2101 +[05/25 07:36:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2101 in 2.60s (batch: 2.51s, save: 0.10s) +[05/25 07:36:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2101 +[05/25 07:36:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2101: 0/1 successful episodes +[05/25 07:36:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2135 (index 38/121) +[05/25 07:36:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2135 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:36:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/25 07:36:05 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_24e1bcf3515547eeac102c9874a1a29b_1_0_3 in scene +[05/25 07:36:05 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +[05/25 07:37:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2135 episode 0 object objadecorativeartifact_5e2d5028e91d4e44bf9effdba17c79f9_1_0_3 completed with success=False +[05/25 07:37:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2135: 1 episodes +[05/25 07:37:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:37:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:37:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2135 +[05/25 07:37:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2135 in 2.63s (batch: 2.52s, save: 0.12s) +[05/25 07:37:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2135 +[05/25 07:37:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2135: 0/1 successful episodes +[05/25 07:37:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2157 (index 39/121) +[05/25 07:37:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2157 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:37:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene +[05/25 07:37:52 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene +[05/25 07:40:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2157 episode 0 object objavideogamebox_c18bf9d6db5044ceb45089c0345536d2_2_0_8 completed with success=False +[05/25 07:40:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene +[05/25 07:40:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene +[05/25 07:42:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2157 episode 1 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_6 completed with success=False +[05/25 07:42:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2157: 2 episodes +[05/25 07:42:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:42:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2157 +[05/25 07:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2157 in 5.60s (batch: 5.40s, save: 0.20s) +[05/25 07:43:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2157 +[05/25 07:43:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2157: 0/2 successful episodes +[05/25 07:43:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2191 (index 40/121) +[05/25 07:43:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:43:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 07:43:04 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_394b22755d3368fb51669bf48bdfea21_1_0_2 in scene +[05/25 07:43:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2191 episode 0 object objabowtie_aa43cf45ba7f42ab8b03a896cd436d5f_1_0_3 completed with success=True +[05/25 07:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2191: 1 episodes +[05/25 07:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/25 07:43:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2191 +[05/25 07:43:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2191 in 2.38s (batch: 2.34s, save: 0.04s) +[05/25 07:43:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2191 +[05/25 07:43:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2191: 1/1 successful episodes +[05/25 07:43:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2218 (index 41/121) +[05/25 07:43:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:43:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/25 07:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:45:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 2218 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_6 completed with success=False +[05/25 07:45:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2218: 1 episodes +[05/25 07:45:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:45:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:45:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2218 +[05/25 07:45:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2218 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 07:45:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2218 +[05/25 07:45:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2218: 0/1 successful episodes +[05/25 07:45:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2247 (index 42/121) +[05/25 07:45:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:45:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 07:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 07:46:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 2247 episode 0 object objastoneblock_3196930e59c54325a11305d8d4d378d7_1_0_7 completed with success=True +[05/25 07:46:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2247: 1 episodes +[05/25 07:46:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/25 07:46:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2247 +[05/25 07:46:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2247 in 2.35s (batch: 2.30s, save: 0.04s) +[05/25 07:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2247 +[05/25 07:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2247: 1/1 successful episodes +[05/25 07:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2298 (index 43/121) +[05/25 07:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:46:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:48:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 2298 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_3 completed with success=False +[05/25 07:48:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2298: 1 episodes +[05/25 07:48:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:48:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2298 +[05/25 07:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2298 in 2.95s (batch: 2.84s, save: 0.12s) +[05/25 07:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2298 +[05/25 07:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2298: 0/1 successful episodes +[05/25 07:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2351 (index 44/121) +[05/25 07:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2351 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 completed with success=False +[05/25 07:50:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2351: 1 episodes +[05/25 07:50:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:50:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:50:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2351 +[05/25 07:50:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2351 in 2.68s (batch: 2.58s, save: 0.10s) +[05/25 07:50:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2351 +[05/25 07:50:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2351: 0/1 successful episodes +[05/25 07:50:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2391 (index 45/121) +[05/25 07:50:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:50:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:50:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2391 episode 0 object objaadjustablewrench_9c640f9d50cb423bbffc485b92e10e5c_1_0_4 completed with success=False +[05/25 07:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2391: 1 episodes +[05/25 07:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:52:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:52:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2391 +[05/25 07:52:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2391 in 2.63s (batch: 2.53s, save: 0.10s) +[05/25 07:52:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2391 +[05/25 07:52:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2391: 0/1 successful episodes +[05/25 07:52:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2415 (index 46/121) +[05/25 07:52:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:52:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:52:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:53:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2415 episode 0 object objaspike_f9d7354296ae472392c111e81f0ac276_1_0_2 completed with success=True +[05/25 07:53:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2415: 1 episodes +[05/25 07:53:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 07:53:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:53:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2415 +[05/25 07:53:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2415 in 2.48s (batch: 2.43s, save: 0.05s) +[05/25 07:53:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2415 +[05/25 07:53:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2415: 1/1 successful episodes +[05/25 07:53:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2462 (index 47/121) +[05/25 07:53:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:53:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:53:23 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_9a0a54db263b4f1a8cdeed4187e70869_1_0_5 in scene +[05/25 07:53:23 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 07:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2462 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=True +[05/25 07:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2462: 1 episodes +[05/25 07:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 07:53:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:53:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2462 +[05/25 07:53:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2462 in 2.32s (batch: 2.29s, save: 0.04s) +[05/25 07:53:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2462 +[05/25 07:53:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2462: 1/1 successful episodes +[05/25 07:53:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2503 (index 48/121) +[05/25 07:53:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2503 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:53:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 07:55:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2503 episode 0 object objaemblem_96907aeebd274c7e8aadbc9b893db4a9_1_0_3 completed with success=False +[05/25 07:55:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2503: 1 episodes +[05/25 07:55:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:55:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:55:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2503 +[05/25 07:55:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2503 in 2.89s (batch: 2.79s, save: 0.09s) +[05/25 07:55:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2503 +[05/25 07:55:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2503: 0/1 successful episodes +[05/25 07:55:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2541 (index 49/121) +[05/25 07:55:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:55:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:55:52 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene +[05/25 07:55:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +[05/25 07:58:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 2541 episode 0 object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 completed with success=False +[05/25 07:58:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2541: 1 episodes +[05/25 07:58:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:58:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:58:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2541 +[05/25 07:58:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2541 in 2.76s (batch: 2.63s, save: 0.12s) +[05/25 07:58:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2541 +[05/25 07:58:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2541: 0/1 successful episodes +[05/25 07:58:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2585 (index 50/121) +[05/25 07:58:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 07:58:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:58:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2585 episode 0 object objabadge_d9e0e0ca2712465a9e19596ce1ec4c8e_1_0_6 completed with success=False +[05/25 08:00:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2585: 1 episodes +[05/25 08:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:00:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:00:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2585 +[05/25 08:00:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2585 in 2.79s (batch: 2.68s, save: 0.12s) +[05/25 08:00:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2585 +[05/25 08:00:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2585: 0/1 successful episodes +[05/25 08:00:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2623 (index 51/121) +[05/25 08:00:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:00:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:00:22 Worker 0 WARNING object_manager.py:1238] Could not find object objagasmask_1d94357061ed4279a71291c665be0765_1_0_5 in scene +[05/25 08:00:22 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_1_0_5 in scene +[05/25 08:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2623 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/25 08:02:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2623: 1 episodes +[05/25 08:02:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:02:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2623 +[05/25 08:02:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2623 in 2.64s (batch: 2.53s, save: 0.11s) +[05/25 08:02:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2623 +[05/25 08:02:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2623: 0/1 successful episodes +[05/25 08:02:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2653 (index 52/121) +[05/25 08:02:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:02:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:02:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 2653 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=True +[05/25 08:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2653: 1 episodes +[05/25 08:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/25 08:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2653 +[05/25 08:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2653 in 2.40s (batch: 2.35s, save: 0.05s) +[05/25 08:02:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2653 +[05/25 08:02:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2653: 1/1 successful episodes +[05/25 08:02:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2695 (index 53/121) +[05/25 08:02:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:02:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapackagingtray_4852600853ff4585a62a59b98a7b7744_1_0_6 in scene +[05/25 08:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_6 in scene +[05/25 08:02:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:02:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2695 episode 0 object objastyluspen_0a77378c4ec64c8cb67e19b9f44a5de5_1_0_7 completed with success=True +[05/25 08:02:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2695: 1 episodes +[05/25 08:02:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 08:02:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:02:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2695 +[05/25 08:02:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2695 in 2.34s (batch: 2.30s, save: 0.04s) +[05/25 08:03:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2695 +[05/25 08:03:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2695: 1/1 successful episodes +[05/25 08:03:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2728 (index 54/121) +[05/25 08:03:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:03:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 08:03:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_7 in scene +[05/25 08:03:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_2_0_7 in scene +[05/25 08:03:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:05:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 2728 episode 0 object objasqueegee_42a4cfa4a56746fa8eb865cc19077e8d_1_0_7 completed with success=False +[05/25 08:05:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2728: 1 episodes +[05/25 08:05:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:05:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:05:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2728 +[05/25 08:05:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2728 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 08:05:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2728 +[05/25 08:05:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2728: 0/1 successful episodes +[05/25 08:05:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2766 (index 55/121) +[05/25 08:05:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:05:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 08:05:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:07:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2766 episode 0 object objametalrod_41462f7e54e24b4294f62104cb085996_1_0_4 completed with success=False +[05/25 08:07:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2766: 1 episodes +[05/25 08:07:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:07:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:07:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2766 +[05/25 08:07:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2766 in 2.87s (batch: 2.75s, save: 0.12s) +[05/25 08:07:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2766 +[05/25 08:07:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2766: 0/1 successful episodes +[05/25 08:07:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2807 (index 56/121) +[05/25 08:07:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:07:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object objahardhat_0b2c9268652246dd9639ccf2cec10a1c_1_0_6 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object objarockyterrainmodel_4fc725d678894c4295fa984ec49c9247_1_0_9 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_b389900f385a224adfc6bfda9c92faf5_1_0_9 in scene +[05/25 08:07:44 Worker 0 WARNING object_manager.py:1238] Could not find object box_0140b828007f0f38133e0ca9e138ff0e_1_0_9 in scene +[05/25 08:10:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2807 episode 0 object objaneedle_9abd71cdbfbd4af8a900b0fb4b3f2d70_1_0_8 completed with success=False +[05/25 08:10:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2807: 1 episodes +[05/25 08:10:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:10:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:10:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2807 +[05/25 08:10:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2807 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 08:10:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2807 +[05/25 08:10:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2807: 0/1 successful episodes +[05/25 08:10:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2846 (index 57/121) +[05/25 08:10:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:10:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:10:22 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_6db831285d1d447997b9b9bc06a0f503_1_0_7 in scene +[05/25 08:12:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 2846 episode 0 object objamace_82aa62b2083742eebf45dc96d2db674a_1_0_8 completed with success=False +[05/25 08:12:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2846: 1 episodes +[05/25 08:12:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:12:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:12:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2846 +[05/25 08:12:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2846 in 2.90s (batch: 2.79s, save: 0.11s) +[05/25 08:12:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2846 +[05/25 08:12:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2846: 0/1 successful episodes +[05/25 08:12:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2875 (index 58/121) +[05/25 08:12:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2875 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:12:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 08:12:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2875 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_6 completed with success=True +[05/25 08:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2875: 1 episodes +[05/25 08:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/25 08:13:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:13:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2875 +[05/25 08:13:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2875 in 2.36s (batch: 2.32s, save: 0.05s) +[05/25 08:13:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2875 +[05/25 08:13:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2875: 1/1 successful episodes +[05/25 08:13:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2915 (index 59/121) +[05/25 08:13:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:13:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:14:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 2915 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_2 completed with success=False +[05/25 08:14:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2915: 1 episodes +[05/25 08:14:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:14:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:14:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2915 +[05/25 08:14:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2915 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 08:14:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2915 +[05/25 08:14:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2915: 0/1 successful episodes +[05/25 08:14:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2970 (index 60/121) +[05/25 08:14:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:14:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene +[05/25 08:14:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +[05/25 08:17:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2970 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 completed with success=False +[05/25 08:17:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2970: 1 episodes +[05/25 08:17:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:17:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:17:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2970 +[05/25 08:17:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2970 in 2.79s (batch: 2.69s, save: 0.10s) +[05/25 08:17:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2970 +[05/25 08:17:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2970: 0/1 successful episodes +[05/25 08:17:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3019 (index 61/121) +[05/25 08:17:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:17:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene +[05/25 08:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +[05/25 08:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3019 episode 0 object cookingpan_987b6d6cc7696fe9beecf0ce92099460_1_0_8 completed with success=True +[05/25 08:18:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3019: 1 episodes +[05/25 08:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 101 timesteps +[05/25 08:18:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:18:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3019 +[05/25 08:18:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3019 in 2.56s (batch: 2.51s, save: 0.05s) +[05/25 08:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3019 +[05/25 08:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3019: 1/1 successful episodes +[05/25 08:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3045 (index 62/121) +[05/25 08:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 08:18:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:18:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3045 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=True +[05/25 08:18:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3045: 1 episodes +[05/25 08:18:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/25 08:18:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:18:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3045 +[05/25 08:18:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3045 in 2.66s (batch: 2.61s, save: 0.04s) +[05/25 08:18:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3045 +[05/25 08:18:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3045: 1/1 successful episodes +[05/25 08:18:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3103 (index 63/121) +[05/25 08:18:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:18:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:18:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_5 in scene +[05/25 08:18:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 08:20:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3103 episode 0 object objaceramicvessel_6db775ca1bd14c5da45b45aea13d99e5_1_0_8 completed with success=False +[05/25 08:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3103: 1 episodes +[05/25 08:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:21:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3103 +[05/25 08:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3103 in 2.81s (batch: 2.70s, save: 0.10s) +[05/25 08:21:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3103 +[05/25 08:21:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3103: 0/1 successful episodes +[05/25 08:21:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3180 (index 64/121) +[05/25 08:21:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:21:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/25 08:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:22:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3180 episode 0 object objapineapple_1aa94c9127004536a5f2b14f9743675b_1_0_2 completed with success=False +[05/25 08:22:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3180: 1 episodes +[05/25 08:22:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:23:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:23:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3180 +[05/25 08:23:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3180 in 2.74s (batch: 2.63s, save: 0.10s) +[05/25 08:23:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3180 +[05/25 08:23:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3180: 0/1 successful episodes +[05/25 08:23:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3211 (index 65/121) +[05/25 08:23:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:23:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:23:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:25:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3211 episode 0 object objavegetable_6bafea3c607848f78a42239755eac8ee_1_0_2 completed with success=False +[05/25 08:25:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3211: 1 episodes +[05/25 08:25:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:25:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:25:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3211 +[05/25 08:25:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3211 in 3.02s (batch: 2.89s, save: 0.13s) +[05/25 08:25:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3211 +[05/25 08:25:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3211: 0/1 successful episodes +[05/25 08:25:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3241 (index 66/121) +[05/25 08:25:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:25:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 08:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[05/25 08:25:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:27:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3241 episode 0 object objadecorativemolding_00c872b61d4441c68c8e5d23953a221f_1_0_8 completed with success=False +[05/25 08:27:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3241: 1 episodes +[05/25 08:27:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:27:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:27:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3241 +[05/25 08:27:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3241 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 08:27:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3241 +[05/25 08:27:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3241: 0/1 successful episodes +[05/25 08:27:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3273 (index 67/121) +[05/25 08:27:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:27:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:27:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3273 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_6 completed with success=False +[05/25 08:29:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3273: 1 episodes +[05/25 08:29:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:29:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3273 +[05/25 08:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3273 in 2.98s (batch: 2.89s, save: 0.10s) +[05/25 08:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3273 +[05/25 08:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3273: 0/1 successful episodes +[05/25 08:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3299 (index 68/121) +[05/25 08:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3299 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 08:29:46 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_2 in scene +[05/25 08:32:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 3299 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_2_0_4 completed with success=False +[05/25 08:32:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3299: 1 episodes +[05/25 08:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3299 +[05/25 08:32:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3299 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 08:32:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3299 +[05/25 08:32:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3299: 0/1 successful episodes +[05/25 08:32:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3362 (index 69/121) +[05/25 08:32:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:32:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 08:32:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:33:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 3362 episode 0 object objaring_ec7ca19df70b4b9e9d56f2a2c91dc401_1_0_2 completed with success=True +[05/25 08:34:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3362: 1 episodes +[05/25 08:34:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 319 timesteps +[05/25 08:34:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:34:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3362 +[05/25 08:34:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3362 in 2.65s (batch: 2.55s, save: 0.10s) +[05/25 08:34:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3362 +[05/25 08:34:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3362: 1/1 successful episodes +[05/25 08:34:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3407 (index 70/121) +[05/25 08:34:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:34:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 08:34:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:36:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3407 episode 0 object objadecorativestake_f4ce2fea0b744e0a98b2073b00efd5dc_1_0_2 completed with success=False +[05/25 08:36:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3407: 1 episodes +[05/25 08:36:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:36:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:36:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3407 +[05/25 08:36:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3407 in 2.95s (batch: 2.81s, save: 0.14s) +[05/25 08:36:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3407 +[05/25 08:36:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3407: 0/1 successful episodes +[05/25 08:36:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3463 (index 71/121) +[05/25 08:36:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:36:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 08:36:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetext_4b33cf70ffca4b95829bec5548eb00f1_2_0_4 in scene +[05/25 08:36:12 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_e39b26ad821ce047b69262973c668c88_1_0_4 in scene +[05/25 08:38:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3463 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_7 completed with success=False +[05/25 08:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3463: 1 episodes +[05/25 08:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:38:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:38:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3463 +[05/25 08:38:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3463 in 3.00s (batch: 2.85s, save: 0.15s) +[05/25 08:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3463 +[05/25 08:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3463: 0/1 successful episodes +[05/25 08:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3490 (index 72/121) +[05/25 08:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 08:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:40:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3490 episode 0 object objapuzzlepiece_1cf1d2bda5a446bd92617b2989f7f408_1_0_2 completed with success=False +[05/25 08:40:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3490: 1 episodes +[05/25 08:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3490 +[05/25 08:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3490 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 08:40:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3490 +[05/25 08:40:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3490: 0/1 successful episodes +[05/25 08:40:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3525 (index 73/121) +[05/25 08:40:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3525 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:40:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 08:40:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:42:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3525 episode 0 object objaabstractfigure_bed3269ce11c4c078d13536263725547_1_0_6 completed with success=False +[05/25 08:42:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3525: 1 episodes +[05/25 08:42:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:42:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:42:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3525 +[05/25 08:42:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3525 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 08:42:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3525 +[05/25 08:42:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3525: 0/1 successful episodes +[05/25 08:42:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3560 (index 74/121) +[05/25 08:42:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:42:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 08:42:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:43:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3560 episode 0 object objanutcracker_6c5d5625b437407ca52ebe2f342307ad_1_0_6 completed with success=True +[05/25 08:43:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3560: 1 episodes +[05/25 08:43:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 137 timesteps +[05/25 08:43:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:43:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3560 +[05/25 08:43:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3560 in 2.48s (batch: 2.44s, save: 0.05s) +[05/25 08:43:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3560 +[05/25 08:43:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3560: 1/1 successful episodes +[05/25 08:43:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3590 (index 75/121) +[05/25 08:43:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:43:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:43:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:45:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3590 episode 0 object objarobotichand_f9ef05feed74414cbb7db55ebbcf3286_1_0_2 completed with success=False +[05/25 08:45:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 08:45:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3590 episode 1 object objacameralens_3c9afba12cd94e2694c5213c271d579e_1_0_2 completed with success=True +[05/25 08:45:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3590: 2 episodes +[05/25 08:45:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:45:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/25 08:45:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3590 +[05/25 08:45:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3590 in 5.13s (batch: 4.99s, save: 0.13s) +[05/25 08:45:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3590 +[05/25 08:45:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3590: 1/2 successful episodes +[05/25 08:45:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3606 (index 76/121) +[05/25 08:45:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:45:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:47:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3606 episode 0 object objagemstone_0e89110673274bb2bc64ef9331b00e07_1_0_6 completed with success=False +[05/25 08:47:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3606: 1 episodes +[05/25 08:47:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:47:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:47:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3606 +[05/25 08:47:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3606 in 2.81s (batch: 2.68s, save: 0.12s) +[05/25 08:47:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3606 +[05/25 08:47:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3606: 0/1 successful episodes +[05/25 08:47:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3635 (index 77/121) +[05/25 08:47:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:47:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene +[05/25 08:47:39 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[05/25 08:50:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3635 episode 0 object objatrophy_703654858927479da6d5bd52c76d1411_1_0_6 completed with success=False +[05/25 08:50:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3635: 1 episodes +[05/25 08:50:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:50:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:50:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3635 +[05/25 08:50:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3635 in 3.01s (batch: 2.88s, save: 0.13s) +[05/25 08:50:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3635 +[05/25 08:50:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3635: 0/1 successful episodes +[05/25 08:50:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3665 (index 78/121) +[05/25 08:50:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:50:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 08:50:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:50:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=True +[05/25 08:50:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3665: 1 episodes +[05/25 08:50:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/25 08:50:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:50:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3665 +[05/25 08:50:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3665 in 2.41s (batch: 2.36s, save: 0.04s) +[05/25 08:50:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3665 +[05/25 08:50:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3665: 1/1 successful episodes +[05/25 08:50:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 79/121) +[05/25 08:50:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:50:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 08:50:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/25 08:50:45 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +[05/25 08:50:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object objadecorativepiece_e3bd19067e41447894a938d91c423301_1_0_7 completed with success=False +[05/25 08:52:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/25 08:52:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:52:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:52:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3723 +[05/25 08:52:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 2.94s (batch: 2.83s, save: 0.11s) +[05/25 08:52:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/25 08:52:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/25 08:52:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3761 (index 80/121) +[05/25 08:52:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:52:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3761 episode 0 object objagardenhosenozzle_8a7488f4f48b4ebca57c0cb3d485c697_1_0_2 completed with success=True +[05/25 08:53:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3761: 1 episodes +[05/25 08:53:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/25 08:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:54:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3761 +[05/25 08:54:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3761 in 2.57s (batch: 2.50s, save: 0.06s) +[05/25 08:54:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3761 +[05/25 08:54:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3761: 1/1 successful episodes +[05/25 08:54:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3814 (index 81/121) +[05/25 08:54:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3814 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:54:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/25 08:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:56:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 3814 episode 0 object objaapple_db4defc696c349f5abe5a99d00abc9d4_1_0_8 completed with success=False +[05/25 08:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3814: 1 episodes +[05/25 08:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3814 +[05/25 08:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3814 in 2.83s (batch: 2.72s, save: 0.11s) +[05/25 08:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3814 +[05/25 08:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3814: 0/1 successful episodes +[05/25 08:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3846 (index 82/121) +[05/25 08:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3846 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 08:56:33 Worker 0 WARNING object_manager.py:1238] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_8 in scene +[05/25 08:56:33 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_8 in scene +[05/25 08:59:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3846 episode 0 object objacomputermouse_f017c73a85484b6da3a66ec1cda70c71_1_0_4 completed with success=False +[05/25 08:59:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3846: 1 episodes +[05/25 08:59:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:59:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:59:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3846 +[05/25 08:59:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3846 in 2.82s (batch: 2.69s, save: 0.13s) +[05/25 08:59:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3846 +[05/25 08:59:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3846: 0/1 successful episodes +[05/25 08:59:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3877 (index 83/121) +[05/25 08:59:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3877 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 08:59:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/25 08:59:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:01:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3877 episode 0 object objagrenade_55ba03e41ae84ee09f938f062bfe211b_1_0_4 completed with success=False +[05/25 09:01:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3877: 1 episodes +[05/25 09:01:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:01:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:01:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3877 +[05/25 09:01:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3877 in 2.98s (batch: 2.86s, save: 0.11s) +[05/25 09:01:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3877 +[05/25 09:01:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3877: 0/1 successful episodes +[05/25 09:01:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3899 (index 84/121) +[05/25 09:01:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:01:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_3 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objacableorganizer_10fc66b44e6a4f1f84c170a4acbd02ba_1_0_5 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene +[05/25 09:01:54 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/25 09:01:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:04:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3899 episode 0 object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_4 completed with success=False +[05/25 09:04:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3899: 1 episodes +[05/25 09:04:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:04:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:04:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3899 +[05/25 09:04:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3899 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 09:04:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3899 +[05/25 09:04:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3899: 0/1 successful episodes +[05/25 09:04:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3918 (index 85/121) +[05/25 09:04:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:04:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 09:04:15 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/25 09:04:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +[05/25 09:04:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3918 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 completed with success=False +[05/25 09:06:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3918: 1 episodes +[05/25 09:06:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:06:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3918 +[05/25 09:06:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3918 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 09:06:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3918 +[05/25 09:06:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3918: 0/1 successful episodes +[05/25 09:06:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3965 (index 86/121) +[05/25 09:06:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:06:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:06:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3965 episode 0 object objanohmask_b40fb0a2596f4981978f3e13e1c4fa83_1_0_2 completed with success=True +[05/25 09:06:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3965: 1 episodes +[05/25 09:06:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 80 timesteps +[05/25 09:06:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3965 +[05/25 09:06:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3965 in 2.37s (batch: 2.32s, save: 0.05s) +[05/25 09:06:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3965 +[05/25 09:06:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3965: 1/1 successful episodes +[05/25 09:06:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3998 (index 87/121) +[05/25 09:06:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3998 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:06:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:06:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:08:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3998 episode 0 object objasoap_5df52b78e98c4885bf45a4c6fd76cfd6_1_0_2 completed with success=False +[05/25 09:08:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3998: 1 episodes +[05/25 09:08:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:08:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:08:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3998 +[05/25 09:08:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3998 in 2.91s (batch: 2.80s, save: 0.11s) +[05/25 09:08:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3998 +[05/25 09:08:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3998: 0/1 successful episodes +[05/25 09:08:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4032 (index 88/121) +[05/25 09:08:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:08:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 09:08:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaeducationalposter_87bcea3b8fe4423ea094501dee33da1e_1_0_8 in scene +[05/25 09:08:52 Worker 0 WARNING object_manager.py:1238] Could not find object cup_76578ead9f14d0b2b3be33d684f6a9e0_1_0_8 in scene +[05/25 09:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4032 episode 0 object objapackaging_2463f68deba24beb98ca96d209f91468_1_0_9 completed with success=False +[05/25 09:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4032: 1 episodes +[05/25 09:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:10:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:10:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4032 +[05/25 09:10:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4032 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 09:10:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4032 +[05/25 09:10:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4032: 0/1 successful episodes +[05/25 09:10:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 89/121) +[05/25 09:10:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:10:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:12:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/25 09:12:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/25 09:12:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:13:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4086 +[05/25 09:13:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 2.77s (batch: 2.67s, save: 0.10s) +[05/25 09:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/25 09:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/25 09:13:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4148 (index 90/121) +[05/25 09:13:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:13:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 09:14:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4148 episode 0 object objapuzzletoy_854a432ad32a4a51a503b865b010b3ca_1_0_6 completed with success=True +[05/25 09:14:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4148: 1 episodes +[05/25 09:14:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 197 timesteps +[05/25 09:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4148 +[05/25 09:14:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4148 in 2.56s (batch: 2.47s, save: 0.09s) +[05/25 09:14:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4148 +[05/25 09:14:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4148: 1/1 successful episodes +[05/25 09:14:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4188 (index 91/121) +[05/25 09:14:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 09:14:29 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_7 in scene +[05/25 09:14:29 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_7 in scene +[05/25 09:14:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:16:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4188 episode 0 object objapickleballpaddle_4b1450f846db43a7a5721afb29b8d86c_1_0_4 completed with success=False +[05/25 09:16:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4188: 1 episodes +[05/25 09:16:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:16:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:16:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4188 +[05/25 09:16:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4188 in 3.02s (batch: 2.87s, save: 0.14s) +[05/25 09:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4188 +[05/25 09:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4188: 0/1 successful episodes +[05/25 09:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4240 (index 92/121) +[05/25 09:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 09:16:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +[05/25 09:18:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False +[05/25 09:18:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4240: 1 episodes +[05/25 09:18:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:19:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:19:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4240 +[05/25 09:19:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4240 in 2.70s (batch: 2.60s, save: 0.11s) +[05/25 09:19:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4240 +[05/25 09:19:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4240: 0/1 successful episodes +[05/25 09:19:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 93/121) +[05/25 09:19:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:19:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/25 09:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene +[05/25 09:19:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:21:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_4 completed with success=False +[05/25 09:21:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes +[05/25 09:21:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:21:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:21:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4290 +[05/25 09:21:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.82s (batch: 2.69s, save: 0.13s) +[05/25 09:21:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290 +[05/25 09:21:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes +[05/25 09:21:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4335 (index 94/121) +[05/25 09:21:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4335 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:21:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 09:24:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4335 episode 0 object objapackagedfood_e93712a57d6946fdab4622c3d62ababc_1_0_8 completed with success=False +[05/25 09:24:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4335: 1 episodes +[05/25 09:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4335 +[05/25 09:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4335 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 09:24:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4335 +[05/25 09:24:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4335: 0/1 successful episodes +[05/25 09:24:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4398 (index 95/121) +[05/25 09:24:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:24:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 09:24:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[05/25 09:26:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4398 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_2_0_2 completed with success=False +[05/25 09:26:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4398: 1 episodes +[05/25 09:26:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:26:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:26:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4398 +[05/25 09:26:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4398 in 2.64s (batch: 2.54s, save: 0.10s) +[05/25 09:26:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4398 +[05/25 09:26:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4398: 0/1 successful episodes +[05/25 09:26:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4444 (index 96/121) +[05/25 09:26:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:26:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 09:26:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 09:26:31 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene +[05/25 09:26:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:28:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4444 episode 0 object objatelegraphkey_a5b108e3132d46b696c36310c2314ed8_1_0_4 completed with success=False +[05/25 09:28:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4444: 1 episodes +[05/25 09:28:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:28:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:28:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4444 +[05/25 09:28:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4444 in 2.85s (batch: 2.74s, save: 0.11s) +[05/25 09:28:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4444 +[05/25 09:28:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4444: 0/1 successful episodes +[05/25 09:28:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4495 (index 97/121) +[05/25 09:28:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:28:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:30:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4495 episode 0 object objakettle_153cd8b6d4094e9c95a4c3addbeb118c_1_0_6 completed with success=False +[05/25 09:30:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4495: 1 episodes +[05/25 09:30:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:30:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4495 +[05/25 09:30:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4495 in 2.91s (batch: 2.81s, save: 0.10s) +[05/25 09:30:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4495 +[05/25 09:30:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4495: 0/1 successful episodes +[05/25 09:30:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4536 (index 98/121) +[05/25 09:30:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:30:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 09:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_8c2887320948bf2580f27f36caf806e5_1_0_6 in scene +[05/25 09:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_7 in scene +[05/25 09:30:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4536 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False +[05/25 09:33:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4536: 1 episodes +[05/25 09:33:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:33:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:33:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4536 +[05/25 09:33:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4536 in 3.17s (batch: 3.04s, save: 0.13s) +[05/25 09:33:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4536 +[05/25 09:33:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4536: 0/1 successful episodes +[05/25 09:33:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4571 (index 99/121) +[05/25 09:33:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 09:35:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4571 episode 0 object objascrewdriver_379c730e677b4a5993603d8ec625f10b_1_0_9 completed with success=False +[05/25 09:35:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4571: 1 episodes +[05/25 09:35:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4571 +[05/25 09:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4571 in 2.89s (batch: 2.74s, save: 0.15s) +[05/25 09:35:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4571 +[05/25 09:35:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4571: 0/1 successful episodes +[05/25 09:35:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4623 (index 100/121) +[05/25 09:35:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:35:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:38:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4623 episode 0 object objaminiaturewindmill_429be92f26d64734b562e42f440aa81f_2_0_8 completed with success=False +[05/25 09:38:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4623: 1 episodes +[05/25 09:38:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:38:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:38:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4623 +[05/25 09:38:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4623 in 2.99s (batch: 2.83s, save: 0.17s) +[05/25 09:39:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4623 +[05/25 09:39:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4623: 0/1 successful episodes +[05/25 09:39:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4706 (index 101/121) +[05/25 09:39:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:39:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_4 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_7 in scene +[05/25 09:39:09 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +[05/25 09:39:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:41:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4706 episode 0 object objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_9 completed with success=False +[05/25 09:41:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4706: 1 episodes +[05/25 09:41:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:41:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:41:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4706 +[05/25 09:41:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4706 in 2.85s (batch: 2.72s, save: 0.13s) +[05/25 09:41:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4706 +[05/25 09:41:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4706: 0/1 successful episodes +[05/25 09:41:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4757 (index 102/121) +[05/25 09:41:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4757 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:41:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/25 09:41:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:43:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4757 episode 0 object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 completed with success=False +[05/25 09:43:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4757: 1 episodes +[05/25 09:43:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:43:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:43:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4757 +[05/25 09:43:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4757 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 09:43:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4757 +[05/25 09:43:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4757: 0/1 successful episodes +[05/25 09:43:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 103/121) +[05/25 09:43:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:43:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 09:43:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:43:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objayoyo_a6b2357265114f81a1418d9e1d90b7ad_1_0_2 completed with success=True +[05/25 09:43:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes +[05/25 09:43:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/25 09:44:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:44:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4807 +[05/25 09:44:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.42s (batch: 2.37s, save: 0.04s) +[05/25 09:44:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807 +[05/25 09:44:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 1/1 successful episodes +[05/25 09:44:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 104/121) +[05/25 09:44:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:44:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:44:08 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/25 09:44:08 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[05/25 09:46:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_6 completed with success=False +[05/25 09:46:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:46:43 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/25 09:46:43 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[05/25 09:46:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objagem_51446bf7bc5a486abb1475f15eac6f64_1_0_9 completed with success=False +[05/25 09:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/25 09:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:48:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:48:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4837 +[05/25 09:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 5.21s (batch: 5.01s, save: 0.20s) +[05/25 09:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/25 09:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/25 09:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4853 (index 105/121) +[05/25 09:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 09:48:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:48:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4853 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_2 completed with success=True +[05/25 09:49:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4853: 1 episodes +[05/25 09:49:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/25 09:49:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:49:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4853 +[05/25 09:49:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4853 in 2.31s (batch: 2.27s, save: 0.04s) +[05/25 09:49:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4853 +[05/25 09:49:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4853: 1/1 successful episodes +[05/25 09:49:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4902 (index 106/121) +[05/25 09:49:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:49:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 09:49:14 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_9 in scene +[05/25 09:49:14 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_9 in scene +[05/25 09:49:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:52:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4902 episode 0 object objagraphicscard_21a315ccf5a345efbcb94fe50a83a1b9_1_0_7 completed with success=False +[05/25 09:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4902: 1 episodes +[05/25 09:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:52:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4902 +[05/25 09:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4902 in 2.96s (batch: 2.84s, save: 0.13s) +[05/25 09:52:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4902 +[05/25 09:52:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4902: 0/1 successful episodes +[05/25 09:52:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 107/121) +[05/25 09:52:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:52:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:52:38 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[05/25 09:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:53:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=True +[05/25 09:53:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 1 episodes +[05/25 09:53:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 09:53:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:53:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4954 +[05/25 09:53:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 2.52s (batch: 2.47s, save: 0.05s) +[05/25 09:53:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954 +[05/25 09:53:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 1/1 successful episodes +[05/25 09:53:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4992 (index 108/121) +[05/25 09:53:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:53:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/25 09:53:12 Worker 0 WARNING object_manager.py:1238] Could not find object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_6 in scene +[05/25 09:53:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:55:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4992 episode 0 object pencil_76052b82a49d08b2444d82d34c95a8dd_1_0_2 completed with success=False +[05/25 09:55:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4992: 1 episodes +[05/25 09:55:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:55:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:55:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4992 +[05/25 09:55:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4992 in 2.90s (batch: 2.79s, save: 0.11s) +[05/25 09:55:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4992 +[05/25 09:55:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4992: 0/1 successful episodes +[05/25 09:55:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 109/121) +[05/25 09:55:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:55:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/25 09:57:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 completed with success=False +[05/25 09:57:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes +[05/25 09:57:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:57:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:57:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5020 +[05/25 09:57:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 2.84s (batch: 2.74s, save: 0.10s) +[05/25 09:57:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020 +[05/25 09:57:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes +[05/25 09:57:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 110/121) +[05/25 09:57:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 09:57:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 09:59:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_6 completed with success=False +[05/25 10:00:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 1 episodes +[05/25 10:00:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:00:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:00:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5059 +[05/25 10:00:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 3.03s (batch: 2.93s, save: 0.11s) +[05/25 10:00:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059 +[05/25 10:00:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/1 successful episodes +[05/25 10:00:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5118 (index 111/121) +[05/25 10:00:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:00:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 10:02:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5118 episode 0 object objadigitalcamera_c8c3f307e93f4c829d579d1b369e6b02_1_0_8 completed with success=False +[05/25 10:02:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5118: 1 episodes +[05/25 10:02:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5118 +[05/25 10:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5118 in 2.87s (batch: 2.77s, save: 0.10s) +[05/25 10:02:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5118 +[05/25 10:02:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5118: 0/1 successful episodes +[05/25 10:02:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5145 (index 112/121) +[05/25 10:02:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:02:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 10:03:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_3ca98f6caabd4c99960dc076fd759ab1_1_0_6 in scene +[05/25 10:03:03 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_6c30212de15b89322c74efcd143a7fbb_1_0_6 in scene +[05/25 10:03:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:05:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 5145 episode 0 object objadecorativenumeral_bd77a44afd8c4ecdbec6e2f07da0094a_1_0_6 completed with success=False +[05/25 10:05:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5145: 1 episodes +[05/25 10:05:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:05:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:05:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5145 +[05/25 10:05:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5145 in 2.73s (batch: 2.63s, save: 0.10s) +[05/25 10:05:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5145 +[05/25 10:05:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5145: 0/1 successful episodes +[05/25 10:05:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5198 (index 113/121) +[05/25 10:05:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:05:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 10:05:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:05:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5198 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_7 completed with success=True +[05/25 10:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5198: 1 episodes +[05/25 10:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 10:05:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:05:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5198 +[05/25 10:05:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5198 in 2.45s (batch: 2.41s, save: 0.04s) +[05/25 10:05:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5198 +[05/25 10:05:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5198: 1/1 successful episodes +[05/25 10:05:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5228 (index 114/121) +[05/25 10:05:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:05:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 10:05:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5228 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_7 completed with success=False +[05/25 10:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5228: 1 episodes +[05/25 10:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:07:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:07:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5228 +[05/25 10:07:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5228 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 10:07:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5228 +[05/25 10:07:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5228: 0/1 successful episodes +[05/25 10:07:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5259 (index 115/121) +[05/25 10:07:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:07:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 10:07:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:09:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5259 episode 0 object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 completed with success=False +[05/25 10:09:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5259: 1 episodes +[05/25 10:09:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:09:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:09:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5259 +[05/25 10:09:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5259 in 2.62s (batch: 2.52s, save: 0.10s) +[05/25 10:09:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5259 +[05/25 10:09:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5259: 0/1 successful episodes +[05/25 10:09:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5289 (index 116/121) +[05/25 10:09:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:09:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 10:09:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadentalmodel_82c94eec587c40fba0337908782c4491_1_0_6 in scene +[05/25 10:09:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabullet_4cc75b7ef1bc474392c319a47fd97348_1_0_6 in scene +[05/25 10:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5289 episode 0 object objamedal_73d4a3206020448983a364fee39f9a0b_1_0_7 completed with success=False +[05/25 10:11:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5289: 1 episodes +[05/25 10:11:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:11:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:11:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5289 +[05/25 10:11:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5289 in 2.77s (batch: 2.66s, save: 0.11s) +[05/25 10:11:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5289 +[05/25 10:11:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5289: 0/1 successful episodes +[05/25 10:11:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5316 (index 117/121) +[05/25 10:11:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:11:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 10:11:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_3 in scene +[05/25 10:11:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_3 in scene +[05/25 10:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:13:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5316 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_2 completed with success=False +[05/25 10:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5316: 1 episodes +[05/25 10:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5316 +[05/25 10:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5316 in 2.67s (batch: 2.57s, save: 0.10s) +[05/25 10:13:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5316 +[05/25 10:13:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5316: 0/1 successful episodes +[05/25 10:13:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5351 (index 118/121) +[05/25 10:13:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:13:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 10:13:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:13:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5351 episode 0 object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_6 completed with success=True +[05/25 10:13:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5351: 1 episodes +[05/25 10:13:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 23 timesteps +[05/25 10:13:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:13:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5351 +[05/25 10:13:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5351 in 2.25s (batch: 2.22s, save: 0.03s) +[05/25 10:13:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5351 +[05/25 10:13:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5351: 1/1 successful episodes +[05/25 10:13:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 119/121) +[05/25 10:13:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:13:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 10:15:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_5 completed with success=False +[05/25 10:15:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/25 10:15:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:15:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:15:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5387 +[05/25 10:15:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.58s (batch: 2.48s, save: 0.10s) +[05/25 10:15:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/25 10:15:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/25 10:15:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 120/121) +[05/25 10:15:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 +[05/25 10:15:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 10:15:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/25 10:15:59 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[05/25 10:18:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objadecorativeleaf_367a7c3c6f9347d89389183a7d2861e7_1_0_8 completed with success=False +[05/25 10:18:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/25 10:18:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:18:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:18:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5453 +[05/25 10:18:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.56s (batch: 2.46s, save: 0.09s) +[05/25 10:18:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/25 10:18:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/25 10:18:17 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/25 10:18:18 INFO pipeline.py:1496] Completed 121 houses, skipped 0 houses +[05/25 10:18:18 INFO pipeline.py:1499] Success count: 31, Total count: 125 +[05/25 10:18:18 INFO pipeline.py:1500] Success rate: 24.80% +Combined 125 episodes from 121 files → /tmp/tmp85ldwatc.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv at-end: 24.8% | oracle: 24.8% of 125 episodes +[2026-05-25 10:18:31,417] INFO MolmoSpaces simulator eval finished: success=31/125 rate=0.2480 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval +[2026-05-25 10:18:31,417] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv diff --git a/pick_randcam/pick_randcam/shards/shard_05/submission/eval_meta.json b/pick_randcam/pick_randcam/shards/shard_05/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3987f859f5da92a8a2ea88bfafde77f223ee0b --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/results.csv" +} diff --git a/pick_randcam/pick_randcam/shards/shard_05/submission/results.csv b/pick_randcam/pick_randcam/shards/shard_05/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..8a0b0ec237ac2df7bc875b822b165d23b2735adc --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/submission/results.csv @@ -0,0 +1,121 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Candle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,61.591564,12.536038 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,73.941929,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.864104,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.921143,0.0 +latest,Objaabstractfigure,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,209.254329,26.597832 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.176075,0.0 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,128.050683,0.0 +latest,Objaapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,132.124732,0.0 +latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,192.464246,0.0 +latest,Objabookmark,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,151.455561,52.349693 +latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.810984,0.0 +latest,Objabowtie,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,87.316012,0.0 +latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.85365,0.0 +latest,Objacameralens,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,107.158444,0.0 +latest,Objacap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.52527,0.0 +latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,175.794482,0.0 +latest,Objachisel,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,141.658893,15.590725 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.300725,0.0 +latest,Objaclaydish,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,62.923034,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.33934,0.0 +latest,Objacombinationwrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.20469,0.0 +latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.727031,0.0 +latest,Objacrucifix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.143515,0.0 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.093269,0.0 +latest,Objadecorativeartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,100.417992,0.0 +latest,Objadecorativeband,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.956003,0.0 +latest,Objadecorativebranch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.719598,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.723918,0.0 +latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,161.632497,0.0 +latest,Objadecorativeleaf,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.055813,0.0 +latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.063329,0.0 +latest,Objadecorativenameplate,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,73.113818,0.0 +latest,Objadecorativenumeral,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.794307,0.0 +latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,174.353486,0.0 +latest,Objadecorativeplatform,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,130.291802,0.0 +latest,Objadecorativestake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.97978,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,235.758331,0.0 +latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,166.414916,0.0 +latest,Objadigitalcamera,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,125.11955,29.273517 +latest,Objadowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.352307,0.0 +latest,Objadraincover,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.651581,0.0 +latest,Objaemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.434448,0.0 +latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,155.723542,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.002917,0.0 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+latest,Objavideogamebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.073204,0.0 +latest,Objavirtualrealitygoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.723984,0.0 +latest,Objawallcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.042409,0.0 +latest,Objawhistle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,219.432354,0.0 +latest,Objayoyo,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,77.469923,0.0 +latest,Pencil,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,128.768657,51.952644 +latest,OVERALL,31,125,24.8,18.07,33.07,31,24.8,18.07,33.07,101.136641,57.580986 diff --git a/pick_randcam/pick_randcam/shards/shard_05/submission/run_command.sh b/pick_randcam/pick_randcam/shards/shard_05/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..b4f230f009d20160a74d10513fef4b809e82a581 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pick_randcam/pick_randcam/shards/shard_05/submission/shard_05_results.csv b/pick_randcam/pick_randcam/shards/shard_05/submission/shard_05_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..8a0b0ec237ac2df7bc875b822b165d23b2735adc --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_05/submission/shard_05_results.csv @@ -0,0 +1,121 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Candle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,61.591564,12.536038 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,73.941929,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.864104,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,88.921143,0.0 +latest,Objaabstractfigure,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,209.254329,26.597832 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.176075,0.0 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,128.050683,0.0 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"successes": 31, + "total": 125, + "success_rate_pct": 24.8, + "ci_95_low_pct": 18.07, + "ci_95_high_pct": 33.07, + "oracle_successes": 31, + "oracle_rate_pct": 24.8, + "oracle_ci_95_low_pct": 18.07, + "oracle_ci_95_high_pct": 33.07, + "jerk_joint_mean": 101.136641, + "jerk_joint_std": 57.580986 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log b/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..e3595759837cf237679b6e2741937ea89fd98622 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/running_log.log @@ -0,0 +1,3700 @@ +05/25 06:21:44 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/25 06:21:44 INFO: Starting house-by-house rollout of 122 houses with 2 episodes each (244 total episodes) using 1 worker processes [pipeline.py: 1279] +05/25 06:21:44 INFO: Evaluation configuration: [pipeline.py: 1286] +05/25 06:21:44 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 13, + 124, + 176, + 213, + 268, + 336, + 384, + 431, + 454, + 484, + 1011, + 1044, + 1087, + 1118, + 1188, + 1237, + 1277, + 1304, + 1334, + 1359, + 1385, + 1459, + 1504, + 1567, + 1585, + 1625, + 1655, + 1703, + 1729, + 1775, + 1822, + 1878, + 1912, + 1945, + 1972, + 2002, + 2033, + 2069, + 2117, + 2144, + 2196, + 2220, + 2278, + 2319, + 2358, + 2399, + 2419, + 2472, + 2512, + 2513, + 2553, + 2590, + 2633, + 2655, + 2704, + 2735, + 2771, + 2819, + 2854, + 2885, + 2932, + 2976, + 3027, + 3060, + 3105, + 3191, + 3226, + 3246, + 3276, + 3316, + 3379, + 3423, + 3467, + 3501, + 3531, + 3576, + 3613, + 3647, + 3687, + 3725, + 3769, + 3818, + 3826, + 3851, + 3880, + 3902, + 3928, + 3971, + 4004, + 4041, + 4106, + 4158, + 4205, + 4270, + 4315, + 4372, + 4404, + 4460, + 4500, + 4552, + 4581, + 4656, + 4721, + 4760, + 4812, + 4861, + 4921, + 4969, + 5007, + 5032, + 5071, + 5126, + 5154, + 5201, + 5234, + 5266, + 5296, + 5321, + 5359, + 5417, + 5455], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/25 06:21:44 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/25 06:21:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:21:44 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/25 06:21:44 INFO: [Worker 0] Worker 0 starting house 4 (index 0/122) [pipeline.py: 473] +05/25 06:21:44 INFO: [Worker 0] Loaded 1 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:21:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:21:54 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/25 06:21:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4_ceiling.xml [task_sampler.py: 797] +05/25 06:21:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:21:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:21:57 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 06:21:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:21:57 INFO: [Worker 0] Sampled task 'Pick up the narrow green strip terrain' [task_sampler.py: 1136] +05/25 06:21:57 INFO: [Worker 0] Worker 0 house 4 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:21:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:22:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:24:50 INFO: [Worker 0] Worker 0 house 4 episode 0 object objadecorativeelement_223af6ac11154e938314733f5d0a4128_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 06:24:54 INFO: [Worker 0] Batching and saving trajectory data for house_4: 1 episodes [pipeline.py: 233] +05/25 06:24:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:24:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:24:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4 [save_utils.py: 703] +05/25 06:24:57 INFO: [Worker 0] Successfully saved trajectory data for house_4 in 2.95s (batch: 2.85s, save: 0.10s) [pipeline.py: 280] +05/25 06:24:58 WARNING: [Worker 0] No trajectory data to save for house_4 [pipeline.py: 229] +05/25 06:24:58 INFO: [Worker 0] Worker 0 completed house 4: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:24:58 INFO: [Worker 0] Worker 0 starting house 13 (index 1/122) [pipeline.py: 473] +05/25 06:24:58 INFO: [Worker 0] Loaded 1 episodes for house 13 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:24:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:25:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_13_ceiling.xml [task_sampler.py: 797] +05/25 06:25:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=13, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:25:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:25:05 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 06:25:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:25:05 INFO: [Worker 0] Sampled task 'Pick up the circular gold ornate openwork ornament' [task_sampler.py: 1136] +05/25 06:25:05 INFO: [Worker 0] Worker 0 house 13 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:25:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:25:05 WARNING: [Worker 0] Could not find object objadecorativestrip_9cb18a2bb2734bacbbab6a15af4acc95_1_0_8 in scene [object_manager.py: 1238] +05/25 06:25:05 WARNING: [Worker 0] Could not find object plate_838def382388bb29da57a8cddc03b072_1_0_8 in scene [object_manager.py: 1238] +05/25 06:25:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:27:20 INFO: [Worker 0] Worker 0 house 13 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 06:27:24 INFO: [Worker 0] Batching and saving trajectory data for house_13: 1 episodes [pipeline.py: 233] +05/25 06:27:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:27:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:27:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_13 [save_utils.py: 703] +05/25 06:27:27 INFO: [Worker 0] Successfully saved trajectory data for house_13 in 2.76s (batch: 2.64s, save: 0.12s) [pipeline.py: 280] +05/25 06:27:27 WARNING: [Worker 0] No trajectory data to save for house_13 [pipeline.py: 229] +05/25 06:27:27 INFO: [Worker 0] Worker 0 completed house 13: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:27:27 INFO: [Worker 0] Worker 0 starting house 124 (index 2/122) [pipeline.py: 473] +05/25 06:27:27 INFO: [Worker 0] Loaded 1 episodes for house 124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:27:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:27:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_124_ceiling.xml [task_sampler.py: 797] +05/25 06:27:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=124, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:27:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:27:29 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/25 06:27:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:27:29 INFO: [Worker 0] Sampled task 'Pick up the light brown branch with red berries' [task_sampler.py: 1136] +05/25 06:27:29 INFO: [Worker 0] Worker 0 house 124 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:27:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:29:14 INFO: [Worker 0] Worker 0 house 124 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:29:18 INFO: [Worker 0] Batching and saving trajectory data for house_124: 1 episodes [pipeline.py: 233] +05/25 06:29:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:29:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:29:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_124 [save_utils.py: 703] +05/25 06:29:20 INFO: [Worker 0] Successfully saved trajectory data for house_124 in 2.61s (batch: 2.52s, save: 0.09s) [pipeline.py: 280] +05/25 06:29:21 WARNING: [Worker 0] No trajectory data to save for house_124 [pipeline.py: 229] +05/25 06:29:21 INFO: [Worker 0] Worker 0 completed house 124: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:29:21 INFO: [Worker 0] Worker 0 starting house 176 (index 3/122) [pipeline.py: 473] +05/25 06:29:21 INFO: [Worker 0] Loaded 1 episodes for house 176 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:29:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:29:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_176_ceiling.xml [task_sampler.py: 797] +05/25 06:29:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=176, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:29:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:29:24 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 06:29:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:29:24 INFO: [Worker 0] Sampled task 'Pick up the small shiny gold dog statue' [task_sampler.py: 1136] +05/25 06:29:24 INFO: [Worker 0] Worker 0 house 176 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:29:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:29:24 WARNING: [Worker 0] Could not find object box_99992203579ebcc1c3794f83f3a3cbe3_1_0_3 in scene [object_manager.py: 1238] +05/25 06:29:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:31:20 INFO: [Worker 0] Worker 0 house 176 episode 0 object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_3 completed with success=False [pipeline.py: 1114] +05/25 06:31:23 INFO: [Worker 0] Batching and saving trajectory data for house_176: 1 episodes [pipeline.py: 233] +05/25 06:31:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:31:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:31:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_176 [save_utils.py: 703] +05/25 06:31:26 INFO: [Worker 0] Successfully saved trajectory data for house_176 in 3.05s (batch: 2.93s, save: 0.12s) [pipeline.py: 280] +05/25 06:31:27 WARNING: [Worker 0] No trajectory data to save for house_176 [pipeline.py: 229] +05/25 06:31:27 INFO: [Worker 0] Worker 0 completed house 176: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:31:27 INFO: [Worker 0] Worker 0 starting house 213 (index 4/122) [pipeline.py: 473] +05/25 06:31:27 INFO: [Worker 0] Loaded 1 episodes for house 213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:31:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:31:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_213_ceiling.xml [task_sampler.py: 797] +05/25 06:31:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=213, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:31:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:31:29 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/25 06:31:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:31:29 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool with triangular loop' [task_sampler.py: 1136] +05/25 06:31:29 INFO: [Worker 0] Worker 0 house 213 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:31:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:33:24 INFO: [Worker 0] Worker 0 house 213 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:33:28 INFO: [Worker 0] Batching and saving trajectory data for house_213: 1 episodes [pipeline.py: 233] +05/25 06:33:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:33:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:33:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_213 [save_utils.py: 703] +05/25 06:33:31 INFO: [Worker 0] Successfully saved trajectory data for house_213 in 3.11s (batch: 2.93s, save: 0.18s) [pipeline.py: 280] +05/25 06:33:32 WARNING: [Worker 0] No trajectory data to save for house_213 [pipeline.py: 229] +05/25 06:33:32 INFO: [Worker 0] Worker 0 completed house 213: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:33:32 INFO: [Worker 0] Worker 0 starting house 268 (index 5/122) [pipeline.py: 473] +05/25 06:33:32 INFO: [Worker 0] Loaded 1 episodes for house 268 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:33:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:33:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_268_ceiling.xml [task_sampler.py: 797] +05/25 06:33:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=268, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:33:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:33:36 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 06:33:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:33:36 INFO: [Worker 0] Sampled task 'Pick up the rectangular light frame with copper connectors' [task_sampler.py: 1136] +05/25 06:33:36 INFO: [Worker 0] Worker 0 house 268 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:33:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:33:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:35:34 INFO: [Worker 0] Worker 0 house 268 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:35:38 INFO: [Worker 0] Batching and saving trajectory data for house_268: 1 episodes [pipeline.py: 233] +05/25 06:35:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:35:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:35:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_268 [save_utils.py: 703] +05/25 06:35:41 INFO: [Worker 0] Successfully saved trajectory data for house_268 in 3.03s (batch: 2.91s, save: 0.12s) [pipeline.py: 280] +05/25 06:35:42 WARNING: [Worker 0] No trajectory data to save for house_268 [pipeline.py: 229] +05/25 06:35:42 INFO: [Worker 0] Worker 0 completed house 268: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:35:42 INFO: [Worker 0] Worker 0 starting house 336 (index 6/122) [pipeline.py: 473] +05/25 06:35:42 INFO: [Worker 0] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:35:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:35:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_336_ceiling.xml [task_sampler.py: 797] +05/25 06:35:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:35:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:35:52 INFO: [Worker 0] randomize_scene: Setting poses for 115 objects [json_eval_task_sampler.py: 686] +05/25 06:35:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:35:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:35:52 INFO: [Worker 0] Sampled task 'Pick up the slender metallic stake with pointed tip' [task_sampler.py: 1136] +05/25 06:35:52 INFO: [Worker 0] Worker 0 house 336 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:35:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:38:28 INFO: [Worker 0] Worker 0 house 336 episode 0 object objastake_560fbea9661941a5a5b9bcc8383849ea_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 06:38:32 INFO: [Worker 0] Batching and saving trajectory data for house_336: 1 episodes [pipeline.py: 233] +05/25 06:38:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:38:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:38:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_336 [save_utils.py: 703] +05/25 06:38:34 INFO: [Worker 0] Successfully saved trajectory data for house_336 in 2.71s (batch: 2.60s, save: 0.11s) [pipeline.py: 280] +05/25 06:38:35 WARNING: [Worker 0] No trajectory data to save for house_336 [pipeline.py: 229] +05/25 06:38:35 INFO: [Worker 0] Worker 0 completed house 336: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:38:35 INFO: [Worker 0] Worker 0 starting house 384 (index 7/122) [pipeline.py: 473] +05/25 06:38:35 INFO: [Worker 0] Loaded 1 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:38:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:38:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_384_ceiling.xml [task_sampler.py: 797] +05/25 06:38:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:38:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:38:41 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 06:38:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:38:41 INFO: [Worker 0] Sampled task 'Pick up the curved tusk' [task_sampler.py: 1136] +05/25 06:38:41 INFO: [Worker 0] Worker 0 house 384 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:38:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:38:41 WARNING: [Worker 0] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene [object_manager.py: 1238] +05/25 06:38:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:40:41 INFO: [Worker 0] Worker 0 house 384 episode 0 object objadecorativeartifact_736840eeb3154bcb91ddb67a221ae993_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 06:40:45 INFO: [Worker 0] Batching and saving trajectory data for house_384: 1 episodes [pipeline.py: 233] +05/25 06:40:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:40:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:40:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_384 [save_utils.py: 703] +05/25 06:40:48 INFO: [Worker 0] Successfully saved trajectory data for house_384 in 2.91s (batch: 2.81s, save: 0.10s) [pipeline.py: 280] +05/25 06:40:49 WARNING: [Worker 0] No trajectory data to save for house_384 [pipeline.py: 229] +05/25 06:40:49 INFO: [Worker 0] Worker 0 completed house 384: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:40:49 INFO: [Worker 0] Worker 0 starting house 431 (index 8/122) [pipeline.py: 473] +05/25 06:40:49 INFO: [Worker 0] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:40:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:40:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_431_ceiling.xml [task_sampler.py: 797] +05/25 06:40:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=431, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:40:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:40:55 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/25 06:40:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:40:55 INFO: [Worker 0] Sampled task 'Pick up the decorative wooden fan carving' [task_sampler.py: 1136] +05/25 06:40:55 INFO: [Worker 0] Worker 0 house 431 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:40:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:40:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:43:09 INFO: [Worker 0] Worker 0 house 431 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:43:13 INFO: [Worker 0] Batching and saving trajectory data for house_431: 1 episodes [pipeline.py: 233] +05/25 06:43:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:43:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:43:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_431 [save_utils.py: 703] +05/25 06:43:16 INFO: [Worker 0] Successfully saved trajectory data for house_431 in 2.78s (batch: 2.65s, save: 0.13s) [pipeline.py: 280] +05/25 06:43:16 WARNING: [Worker 0] No trajectory data to save for house_431 [pipeline.py: 229] +05/25 06:43:16 INFO: [Worker 0] Worker 0 completed house 431: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:43:16 INFO: [Worker 0] Worker 0 starting house 454 (index 9/122) [pipeline.py: 473] +05/25 06:43:16 INFO: [Worker 0] Loaded 1 episodes for house 454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:43:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:43:18 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 06:43:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_454_ceiling.xml [task_sampler.py: 797] +05/25 06:43:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=454, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:43:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:43:22 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 06:43:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:43:22 INFO: [Worker 0] Sampled task 'Pick up the magenta coil spring on base' [task_sampler.py: 1136] +05/25 06:43:22 INFO: [Worker 0] Worker 0 house 454 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:43:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:43:22 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/25 06:43:22 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene [object_manager.py: 1238] +05/25 06:43:22 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene [object_manager.py: 1238] +05/25 06:43:39 INFO: [Worker 0] Worker 0 house 454 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 06:43:43 INFO: [Worker 0] Batching and saving trajectory data for house_454: 1 episodes [pipeline.py: 233] +05/25 06:43:43 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/25 06:43:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:43:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_454 [save_utils.py: 703] +05/25 06:43:46 INFO: [Worker 0] Successfully saved trajectory data for house_454 in 2.66s (batch: 2.61s, save: 0.05s) [pipeline.py: 280] +05/25 06:43:46 WARNING: [Worker 0] No trajectory data to save for house_454 [pipeline.py: 229] +05/25 06:43:46 INFO: [Worker 0] Worker 0 completed house 454: 1/1 successful episodes [pipeline.py: 1243] +05/25 06:43:46 INFO: [Worker 0] Worker 0 starting house 484 (index 10/122) [pipeline.py: 473] +05/25 06:43:46 INFO: [Worker 0] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:43:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:43:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_484_ceiling.xml [task_sampler.py: 797] +05/25 06:43:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:43:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:43:48 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 06:43:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:43:48 INFO: [Worker 0] Sampled task 'Pick up the rustic clay pot' [task_sampler.py: 1136] +05/25 06:43:48 INFO: [Worker 0] Worker 0 house 484 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:43:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:43:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:43:59 INFO: [Worker 0] Worker 0 house 484 episode 0 object objaclaypot_59f804616d3a43efb1c01c5e51d84ec5_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 06:44:02 INFO: [Worker 0] Batching and saving trajectory data for house_484: 1 episodes [pipeline.py: 233] +05/25 06:44:02 INFO: [Worker 0] Preparing episode data: 47 timesteps [save_utils.py: 284] +05/25 06:44:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:44:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_484 [save_utils.py: 703] +05/25 06:44:05 INFO: [Worker 0] Successfully saved trajectory data for house_484 in 2.37s (batch: 2.33s, save: 0.03s) [pipeline.py: 280] +05/25 06:44:05 WARNING: [Worker 0] No trajectory data to save for house_484 [pipeline.py: 229] +05/25 06:44:05 INFO: [Worker 0] Worker 0 completed house 484: 1/1 successful episodes [pipeline.py: 1243] +05/25 06:44:05 INFO: [Worker 0] Worker 0 starting house 1011 (index 11/122) [pipeline.py: 473] +05/25 06:44:05 INFO: [Worker 0] Loaded 1 episodes for house 1011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:44:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:44:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1011_ceiling.xml [task_sampler.py: 797] +05/25 06:44:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1011, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:44:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:44:07 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/25 06:44:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:44:07 INFO: [Worker 0] Sampled task 'Pick up the polished adjustable metallic cabinet hinge' [task_sampler.py: 1136] +05/25 06:44:07 INFO: [Worker 0] Worker 0 house 1011 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:44:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:44:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:45:37 INFO: [Worker 0] Worker 0 house 1011 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:45:40 INFO: [Worker 0] Batching and saving trajectory data for house_1011: 1 episodes [pipeline.py: 233] +05/25 06:45:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:45:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:45:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1011 [save_utils.py: 703] +05/25 06:45:43 INFO: [Worker 0] Successfully saved trajectory data for house_1011 in 2.70s (batch: 2.60s, save: 0.10s) [pipeline.py: 280] +05/25 06:45:43 WARNING: [Worker 0] No trajectory data to save for house_1011 [pipeline.py: 229] +05/25 06:45:43 INFO: [Worker 0] Worker 0 completed house 1011: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:45:43 INFO: [Worker 0] Worker 0 starting house 1044 (index 12/122) [pipeline.py: 473] +05/25 06:45:43 INFO: [Worker 0] Loaded 1 episodes for house 1044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:45:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:45:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1044_ceiling.xml [task_sampler.py: 797] +05/25 06:45:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1044, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:45:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:45:48 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 06:45:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:45:49 INFO: [Worker 0] Sampled task 'Pick up the black and yellow protective glove' [task_sampler.py: 1136] +05/25 06:45:49 INFO: [Worker 0] Worker 0 house 1044 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:45:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:45:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:48:01 INFO: [Worker 0] Worker 0 house 1044 episode 0 object objaglove_4acd6e81122542a58a9da9695185a231_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 06:48:05 INFO: [Worker 0] Batching and saving trajectory data for house_1044: 1 episodes [pipeline.py: 233] +05/25 06:48:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:48:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1044 [save_utils.py: 703] +05/25 06:48:08 INFO: [Worker 0] Successfully saved trajectory data for house_1044 in 2.81s (batch: 2.70s, save: 0.11s) [pipeline.py: 280] +05/25 06:48:09 WARNING: [Worker 0] No trajectory data to save for house_1044 [pipeline.py: 229] +05/25 06:48:09 INFO: [Worker 0] Worker 0 completed house 1044: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:48:09 INFO: [Worker 0] Worker 0 starting house 1087 (index 13/122) [pipeline.py: 473] +05/25 06:48:09 INFO: [Worker 0] Loaded 1 episodes for house 1087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:48:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:48:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1087_ceiling.xml [task_sampler.py: 797] +05/25 06:48:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1087, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:48:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:48:15 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/25 06:48:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:48:15 INFO: [Worker 0] Sampled task 'Pick up the dark glossy green apple' [task_sampler.py: 1136] +05/25 06:48:15 INFO: [Worker 0] Worker 0 house 1087 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:48:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:48:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:50:30 INFO: [Worker 0] Worker 0 house 1087 episode 0 object objaapple_fddd771429044d859611f2007e57b2a1_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 06:50:34 INFO: [Worker 0] Batching and saving trajectory data for house_1087: 1 episodes [pipeline.py: 233] +05/25 06:50:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:50:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:50:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1087 [save_utils.py: 703] +05/25 06:50:37 INFO: [Worker 0] Successfully saved trajectory data for house_1087 in 3.03s (batch: 2.91s, save: 0.12s) [pipeline.py: 280] +05/25 06:50:38 WARNING: [Worker 0] No trajectory data to save for house_1087 [pipeline.py: 229] +05/25 06:50:38 INFO: [Worker 0] Worker 0 completed house 1087: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:50:38 INFO: [Worker 0] Worker 0 starting house 1118 (index 14/122) [pipeline.py: 473] +05/25 06:50:38 INFO: [Worker 0] Loaded 1 episodes for house 1118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:50:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:50:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1118_ceiling.xml [task_sampler.py: 797] +05/25 06:50:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1118, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:50:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:50:44 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 06:50:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:50:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:50:44 INFO: [Worker 0] Sampled task 'Pick up the blue four-sided die' [task_sampler.py: 1136] +05/25 06:50:44 INFO: [Worker 0] Worker 0 house 1118 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:50:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:53:13 INFO: [Worker 0] Worker 0 house 1118 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 06:53:17 INFO: [Worker 0] Batching and saving trajectory data for house_1118: 1 episodes [pipeline.py: 233] +05/25 06:53:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:53:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:53:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1118 [save_utils.py: 703] +05/25 06:53:20 INFO: [Worker 0] Successfully saved trajectory data for house_1118 in 2.93s (batch: 2.82s, save: 0.11s) [pipeline.py: 280] +05/25 06:53:21 WARNING: [Worker 0] No trajectory data to save for house_1118 [pipeline.py: 229] +05/25 06:53:21 INFO: [Worker 0] Worker 0 completed house 1118: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:53:21 INFO: [Worker 0] Worker 0 starting house 1188 (index 15/122) [pipeline.py: 473] +05/25 06:53:21 INFO: [Worker 0] Loaded 1 episodes for house 1188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:53:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:53:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1188_ceiling.xml [task_sampler.py: 797] +05/25 06:53:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1188, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:53:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:53:27 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 06:53:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:53:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:53:27 INFO: [Worker 0] Sampled task 'Pick up the glossy pink mushroom with spots' [task_sampler.py: 1136] +05/25 06:53:27 INFO: [Worker 0] Worker 0 house 1188 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:53:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:53:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 06:55:44 INFO: [Worker 0] Worker 0 house 1188 episode 0 object objadecorativeknob_e4ebb7a0afb94b618583f2c6bb2ddab4_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 06:55:48 INFO: [Worker 0] Batching and saving trajectory data for house_1188: 1 episodes [pipeline.py: 233] +05/25 06:55:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:55:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:55:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1188 [save_utils.py: 703] +05/25 06:55:51 INFO: [Worker 0] Successfully saved trajectory data for house_1188 in 3.20s (batch: 3.10s, save: 0.09s) [pipeline.py: 280] +05/25 06:55:52 WARNING: [Worker 0] No trajectory data to save for house_1188 [pipeline.py: 229] +05/25 06:55:52 INFO: [Worker 0] Worker 0 completed house 1188: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:55:52 INFO: [Worker 0] Worker 0 starting house 1237 (index 16/122) [pipeline.py: 473] +05/25 06:55:52 INFO: [Worker 0] Loaded 1 episodes for house 1237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:55:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:55:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1237_ceiling.xml [task_sampler.py: 797] +05/25 06:55:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1237, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:55:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:55:55 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/25 06:55:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:55:55 INFO: [Worker 0] Sampled task 'Pick up the clothes iron' [task_sampler.py: 1136] +05/25 06:55:55 INFO: [Worker 0] Worker 0 house 1237 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:55:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:56:11 INFO: [Worker 0] Worker 0 house 1237 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 06:56:15 INFO: [Worker 0] Batching and saving trajectory data for house_1237: 1 episodes [pipeline.py: 233] +05/25 06:56:15 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/25 06:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:56:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1237 [save_utils.py: 703] +05/25 06:56:18 INFO: [Worker 0] Successfully saved trajectory data for house_1237 in 2.51s (batch: 2.47s, save: 0.04s) [pipeline.py: 280] +05/25 06:56:18 WARNING: [Worker 0] No trajectory data to save for house_1237 [pipeline.py: 229] +05/25 06:56:18 INFO: [Worker 0] Worker 0 completed house 1237: 1/1 successful episodes [pipeline.py: 1243] +05/25 06:56:18 INFO: [Worker 0] Worker 0 starting house 1277 (index 17/122) [pipeline.py: 473] +05/25 06:56:18 INFO: [Worker 0] Loaded 1 episodes for house 1277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:56:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:56:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1277_ceiling.xml [task_sampler.py: 797] +05/25 06:56:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1277, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:56:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:56:25 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/25 06:56:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:56:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:56:25 INFO: [Worker 0] Sampled task 'Pick up the black sleek remote' [task_sampler.py: 1136] +05/25 06:56:25 INFO: [Worker 0] Worker 0 house 1277 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:56:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:58:26 INFO: [Worker 0] Worker 0 house 1277 episode 0 object objaremotecontrol_f130817ddede45b5acd1d78f7af099d0_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 06:58:30 INFO: [Worker 0] Batching and saving trajectory data for house_1277: 1 episodes [pipeline.py: 233] +05/25 06:58:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 06:58:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 06:58:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1277 [save_utils.py: 703] +05/25 06:58:33 INFO: [Worker 0] Successfully saved trajectory data for house_1277 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/25 06:58:33 WARNING: [Worker 0] No trajectory data to save for house_1277 [pipeline.py: 229] +05/25 06:58:33 INFO: [Worker 0] Worker 0 completed house 1277: 0/1 successful episodes [pipeline.py: 1243] +05/25 06:58:33 INFO: [Worker 0] Worker 0 starting house 1304 (index 18/122) [pipeline.py: 473] +05/25 06:58:33 INFO: [Worker 0] Loaded 1 episodes for house 1304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 06:58:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 06:58:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1304_ceiling.xml [task_sampler.py: 797] +05/25 06:58:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1304, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 06:58:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 06:58:36 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 06:58:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 06:58:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 06:58:36 INFO: [Worker 0] Sampled task 'Pick up the glossy red tomato' [task_sampler.py: 1136] +05/25 06:58:36 INFO: [Worker 0] Worker 0 house 1304 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 06:58:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 06:58:36 WARNING: [Worker 0] Could not find object objawalrusskull_a8fcc4dbeaee4ec5b3e367cbe30bc1a8_1_0_4 in scene [object_manager.py: 1238] +05/25 06:58:36 WARNING: [Worker 0] Could not find object objawalkietalkie_30dac864de094a7d8721e3fe8b3731e2_1_0_4 in scene [object_manager.py: 1238] +05/25 06:58:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:00:10 INFO: [Worker 0] Worker 0 house 1304 episode 0 object objatomato_a64e1ac7f8c44821bbc365f0581d95b2_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:00:14 INFO: [Worker 0] Batching and saving trajectory data for house_1304: 1 episodes [pipeline.py: 233] +05/25 07:00:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:00:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:00:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1304 [save_utils.py: 703] +05/25 07:00:16 INFO: [Worker 0] Successfully saved trajectory data for house_1304 in 2.72s (batch: 2.61s, save: 0.11s) [pipeline.py: 280] +05/25 07:00:17 WARNING: [Worker 0] No trajectory data to save for house_1304 [pipeline.py: 229] +05/25 07:00:17 INFO: [Worker 0] Worker 0 completed house 1304: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:00:17 INFO: [Worker 0] Worker 0 starting house 1334 (index 19/122) [pipeline.py: 473] +05/25 07:00:17 INFO: [Worker 0] Loaded 1 episodes for house 1334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:00:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:00:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1334_ceiling.xml [task_sampler.py: 797] +05/25 07:00:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1334, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:00:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:00:18 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 07:00:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:00:18 INFO: [Worker 0] Sampled task 'Pick up the small gray bird with orange beak' [task_sampler.py: 1136] +05/25 07:00:18 INFO: [Worker 0] Worker 0 house 1334 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:00:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:00:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:01:53 INFO: [Worker 0] Worker 0 house 1334 episode 0 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:01:57 INFO: [Worker 0] Batching and saving trajectory data for house_1334: 1 episodes [pipeline.py: 233] +05/25 07:01:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:02:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:02:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1334 [save_utils.py: 703] +05/25 07:02:00 INFO: [Worker 0] Successfully saved trajectory data for house_1334 in 2.94s (batch: 2.83s, save: 0.11s) [pipeline.py: 280] +05/25 07:02:01 WARNING: [Worker 0] No trajectory data to save for house_1334 [pipeline.py: 229] +05/25 07:02:01 INFO: [Worker 0] Worker 0 completed house 1334: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:02:01 INFO: [Worker 0] Worker 0 starting house 1359 (index 20/122) [pipeline.py: 473] +05/25 07:02:01 INFO: [Worker 0] Loaded 1 episodes for house 1359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:02:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:02:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1359_ceiling.xml [task_sampler.py: 797] +05/25 07:02:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1359, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:02:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:02:10 INFO: [Worker 0] randomize_scene: Setting poses for 104 objects [json_eval_task_sampler.py: 686] +05/25 07:02:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:02:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:02:10 INFO: [Worker 0] Sampled task 'Pick up the black collar with sharp metal spikes' [task_sampler.py: 1136] +05/25 07:02:10 INFO: [Worker 0] Worker 0 house 1359 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:02:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:02:10 WARNING: [Worker 0] Could not find object objamechanicalclamp_4349300626ef4f3e9448d00fa0147421_1_0_7 in scene [object_manager.py: 1238] +05/25 07:02:10 WARNING: [Worker 0] Could not find object objafoodmodel_010bfd2169e84462816688838d5f8976_1_0_7 in scene [object_manager.py: 1238] +05/25 07:02:10 WARNING: [Worker 0] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_9 in scene [object_manager.py: 1238] +05/25 07:02:10 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_9 in scene [object_manager.py: 1238] +05/25 07:05:23 INFO: [Worker 0] Worker 0 house 1359 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 07:05:26 INFO: [Worker 0] Batching and saving trajectory data for house_1359: 1 episodes [pipeline.py: 233] +05/25 07:05:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:05:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:05:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1359 [save_utils.py: 703] +05/25 07:05:30 INFO: [Worker 0] Successfully saved trajectory data for house_1359 in 3.10s (batch: 2.95s, save: 0.16s) [pipeline.py: 280] +05/25 07:05:30 WARNING: [Worker 0] No trajectory data to save for house_1359 [pipeline.py: 229] +05/25 07:05:30 INFO: [Worker 0] Worker 0 completed house 1359: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:05:30 INFO: [Worker 0] Worker 0 starting house 1385 (index 21/122) [pipeline.py: 473] +05/25 07:05:30 INFO: [Worker 0] Loaded 1 episodes for house 1385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:05:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:05:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1385_ceiling.xml [task_sampler.py: 797] +05/25 07:05:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1385, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:05:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:05:36 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 07:05:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:05:36 INFO: [Worker 0] Sampled task 'Pick up the yellow bubble tea cup with straw' [task_sampler.py: 1136] +05/25 07:05:36 INFO: [Worker 0] Worker 0 house 1385 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:05:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:05:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:07:29 INFO: [Worker 0] Worker 0 house 1385 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_3_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:07:33 INFO: [Worker 0] Batching and saving trajectory data for house_1385: 1 episodes [pipeline.py: 233] +05/25 07:07:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:07:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1385 [save_utils.py: 703] +05/25 07:07:36 INFO: [Worker 0] Successfully saved trajectory data for house_1385 in 2.78s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/25 07:07:37 WARNING: [Worker 0] No trajectory data to save for house_1385 [pipeline.py: 229] +05/25 07:07:37 INFO: [Worker 0] Worker 0 completed house 1385: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:07:37 INFO: [Worker 0] Worker 0 starting house 1459 (index 22/122) [pipeline.py: 473] +05/25 07:07:37 INFO: [Worker 0] Loaded 1 episodes for house 1459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:07:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:07:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1459_ceiling.xml [task_sampler.py: 797] +05/25 07:07:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1459, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:07:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:07:40 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 07:07:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:07:40 INFO: [Worker 0] Sampled task 'Pick up the olive-green handheld radio' [task_sampler.py: 1136] +05/25 07:07:40 INFO: [Worker 0] Worker 0 house 1459 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:07:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:07:40 WARNING: [Worker 0] Could not find object objasneaker_90901577d17b4a96bd853c19b47e579a_1_0_5 in scene [object_manager.py: 1238] +05/25 07:07:40 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_2_0_5 in scene [object_manager.py: 1238] +05/25 07:07:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:09:47 INFO: [Worker 0] Worker 0 house 1459 episode 0 object objahandheldradio_70225bd7152645f689593ac423bbbf6b_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 07:09:51 INFO: [Worker 0] Batching and saving trajectory data for house_1459: 1 episodes [pipeline.py: 233] +05/25 07:09:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:09:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:09:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1459 [save_utils.py: 703] +05/25 07:09:53 INFO: [Worker 0] Successfully saved trajectory data for house_1459 in 2.82s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/25 07:09:54 WARNING: [Worker 0] No trajectory data to save for house_1459 [pipeline.py: 229] +05/25 07:09:54 INFO: [Worker 0] Worker 0 completed house 1459: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:09:54 INFO: [Worker 0] Worker 0 starting house 1504 (index 23/122) [pipeline.py: 473] +05/25 07:09:54 INFO: [Worker 0] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:09:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:09:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1504_ceiling.xml [task_sampler.py: 797] +05/25 07:09:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1504, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:09:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:09:59 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 07:09:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:10:00 INFO: [Worker 0] Sampled task 'Pick up the wooden mechanical clock' [task_sampler.py: 1136] +05/25 07:10:00 INFO: [Worker 0] Worker 0 house 1504 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:10:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:10:00 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene [object_manager.py: 1238] +05/25 07:10:00 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/25 07:10:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:12:00 INFO: [Worker 0] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 07:12:04 INFO: [Worker 0] Batching and saving trajectory data for house_1504: 1 episodes [pipeline.py: 233] +05/25 07:12:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:12:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:12:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1504 [save_utils.py: 703] +05/25 07:12:07 INFO: [Worker 0] Successfully saved trajectory data for house_1504 in 2.85s (batch: 2.76s, save: 0.10s) [pipeline.py: 280] +05/25 07:12:08 WARNING: [Worker 0] No trajectory data to save for house_1504 [pipeline.py: 229] +05/25 07:12:08 INFO: [Worker 0] Worker 0 completed house 1504: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:12:08 INFO: [Worker 0] Worker 0 starting house 1567 (index 24/122) [pipeline.py: 473] +05/25 07:12:08 INFO: [Worker 0] Loaded 1 episodes for house 1567 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:12:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:12:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1567_ceiling.xml [task_sampler.py: 797] +05/25 07:12:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1567, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:12:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:12:09 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/25 07:12:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:12:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:12:09 INFO: [Worker 0] Sampled task 'Pick up the measuring system' [task_sampler.py: 1136] +05/25 07:12:09 INFO: [Worker 0] Worker 0 house 1567 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:12:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:12:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:12:22 INFO: [Worker 0] Worker 0 house 1567 episode 0 object objaanemometer_c38f08309b6b476883c801597bd24727_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 07:12:26 INFO: [Worker 0] Batching and saving trajectory data for house_1567: 1 episodes [pipeline.py: 233] +05/25 07:12:26 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/25 07:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:12:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1567 [save_utils.py: 703] +05/25 07:12:28 INFO: [Worker 0] Successfully saved trajectory data for house_1567 in 2.34s (batch: 2.30s, save: 0.04s) [pipeline.py: 280] +05/25 07:12:29 WARNING: [Worker 0] No trajectory data to save for house_1567 [pipeline.py: 229] +05/25 07:12:29 INFO: [Worker 0] Worker 0 completed house 1567: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:12:29 INFO: [Worker 0] Worker 0 starting house 1585 (index 25/122) [pipeline.py: 473] +05/25 07:12:29 INFO: [Worker 0] Loaded 2 episodes for house 1585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:12:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:12:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1585_ceiling.xml [task_sampler.py: 797] +05/25 07:12:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1585, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:12:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:12:36 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 07:12:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:12:36 INFO: [Worker 0] Sampled task 'Pick up the wooden paddle with black decorative rectangles' [task_sampler.py: 1136] +05/25 07:12:36 INFO: [Worker 0] Worker 0 house 1585 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 07:12:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:12:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:12:54 INFO: [Worker 0] Worker 0 house 1585 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 07:12:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:13:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1585_ceiling.xml [task_sampler.py: 797] +05/25 07:13:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1585, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:13:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:13:05 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 07:13:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:13:05 INFO: [Worker 0] Sampled task 'Pick up the black rectangular network switch with ports' [task_sampler.py: 1136] +05/25 07:13:05 INFO: [Worker 0] Worker 0 house 1585 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 07:13:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:13:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:15:04 INFO: [Worker 0] Worker 0 house 1585 episode 1 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 07:15:08 INFO: [Worker 0] Batching and saving trajectory data for house_1585: 2 episodes [pipeline.py: 233] +05/25 07:15:08 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/25 07:15:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:15:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:15:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:15:13 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1585 [save_utils.py: 703] +05/25 07:15:13 INFO: [Worker 0] Successfully saved trajectory data for house_1585 in 5.35s (batch: 5.17s, save: 0.18s) [pipeline.py: 280] +05/25 07:15:14 WARNING: [Worker 0] No trajectory data to save for house_1585 [pipeline.py: 229] +05/25 07:15:14 INFO: [Worker 0] Worker 0 completed house 1585: 1/2 successful episodes [pipeline.py: 1243] +05/25 07:15:14 INFO: [Worker 0] Worker 0 starting house 1625 (index 26/122) [pipeline.py: 473] +05/25 07:15:14 INFO: [Worker 0] Loaded 1 episodes for house 1625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:15:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:15:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1625_ceiling.xml [task_sampler.py: 797] +05/25 07:15:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1625, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:15:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:15:17 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 07:15:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:15:17 INFO: [Worker 0] Sampled task 'Pick up the shallow pan with wooden handle' [task_sampler.py: 1136] +05/25 07:15:17 INFO: [Worker 0] Worker 0 house 1625 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:15:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:15:17 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene [object_manager.py: 1238] +05/25 07:15:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:15:36 INFO: [Worker 0] Worker 0 house 1625 episode 0 object cookingpan_40a9be8ae8b33a178aac27f51bb40432_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 07:15:40 INFO: [Worker 0] Batching and saving trajectory data for house_1625: 1 episodes [pipeline.py: 233] +05/25 07:15:40 INFO: [Worker 0] Preparing episode data: 69 timesteps [save_utils.py: 284] +05/25 07:15:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:15:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1625 [save_utils.py: 703] +05/25 07:15:42 INFO: [Worker 0] Successfully saved trajectory data for house_1625 in 2.52s (batch: 2.47s, save: 0.04s) [pipeline.py: 280] +05/25 07:15:43 WARNING: [Worker 0] No trajectory data to save for house_1625 [pipeline.py: 229] +05/25 07:15:43 INFO: [Worker 0] Worker 0 completed house 1625: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:15:43 INFO: [Worker 0] Worker 0 starting house 1655 (index 27/122) [pipeline.py: 473] +05/25 07:15:43 INFO: [Worker 0] Loaded 1 episodes for house 1655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:15:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:15:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1655_ceiling.xml [task_sampler.py: 797] +05/25 07:15:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1655, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:15:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:15:46 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 07:15:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:15:46 INFO: [Worker 0] Sampled task 'Pick up the toilet roll' [task_sampler.py: 1136] +05/25 07:15:46 INFO: [Worker 0] Worker 0 house 1655 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:15:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:15:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:17:35 INFO: [Worker 0] Worker 0 house 1655 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:17:39 INFO: [Worker 0] Batching and saving trajectory data for house_1655: 1 episodes [pipeline.py: 233] +05/25 07:17:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:17:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:17:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1655 [save_utils.py: 703] +05/25 07:17:42 INFO: [Worker 0] Successfully saved trajectory data for house_1655 in 2.60s (batch: 2.50s, save: 0.10s) [pipeline.py: 280] +05/25 07:17:42 WARNING: [Worker 0] No trajectory data to save for house_1655 [pipeline.py: 229] +05/25 07:17:42 INFO: [Worker 0] Worker 0 completed house 1655: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:17:42 INFO: [Worker 0] Worker 0 starting house 1703 (index 28/122) [pipeline.py: 473] +05/25 07:17:42 INFO: [Worker 0] Loaded 1 episodes for house 1703 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:17:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:17:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1703_ceiling.xml [task_sampler.py: 797] +05/25 07:17:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1703, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:17:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:17:48 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/25 07:17:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:17:48 INFO: [Worker 0] Sampled task 'Pick up the metal trowel' [task_sampler.py: 1136] +05/25 07:17:48 INFO: [Worker 0] Worker 0 house 1703 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:17:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:17:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:19:52 INFO: [Worker 0] Worker 0 house 1703 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:19:56 INFO: [Worker 0] Batching and saving trajectory data for house_1703: 1 episodes [pipeline.py: 233] +05/25 07:19:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:19:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:19:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1703 [save_utils.py: 703] +05/25 07:19:59 INFO: [Worker 0] Successfully saved trajectory data for house_1703 in 2.79s (batch: 2.70s, save: 0.10s) [pipeline.py: 280] +05/25 07:19:59 WARNING: [Worker 0] No trajectory data to save for house_1703 [pipeline.py: 229] +05/25 07:19:59 INFO: [Worker 0] Worker 0 completed house 1703: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:19:59 INFO: [Worker 0] Worker 0 starting house 1729 (index 29/122) [pipeline.py: 473] +05/25 07:19:59 INFO: [Worker 0] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:19:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:20:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1729_ceiling.xml [task_sampler.py: 797] +05/25 07:20:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1729, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:20:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:20:03 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 07:20:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:20:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:20:03 INFO: [Worker 0] Sampled task 'Pick up the rusty white lever' [task_sampler.py: 1136] +05/25 07:20:03 INFO: [Worker 0] Worker 0 house 1729 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:20:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:20:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:20:40 INFO: [Worker 0] Worker 0 house 1729 episode 0 object objalever_b4e8376a83f9421881a8cefe856862ab_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 07:20:44 INFO: [Worker 0] Batching and saving trajectory data for house_1729: 1 episodes [pipeline.py: 233] +05/25 07:20:44 INFO: [Worker 0] Preparing episode data: 127 timesteps [save_utils.py: 284] +05/25 07:20:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:20:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1729 [save_utils.py: 703] +05/25 07:20:46 INFO: [Worker 0] Successfully saved trajectory data for house_1729 in 2.59s (batch: 2.54s, save: 0.05s) [pipeline.py: 280] +05/25 07:20:47 WARNING: [Worker 0] No trajectory data to save for house_1729 [pipeline.py: 229] +05/25 07:20:47 INFO: [Worker 0] Worker 0 completed house 1729: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:20:47 INFO: [Worker 0] Worker 0 starting house 1775 (index 30/122) [pipeline.py: 473] +05/25 07:20:47 INFO: [Worker 0] Loaded 1 episodes for house 1775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:20:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:20:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1775_ceiling.xml [task_sampler.py: 797] +05/25 07:20:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1775, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:20:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:20:51 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 07:20:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:20:51 INFO: [Worker 0] Sampled task 'Pick up the long slender bronze metal bar with patch' [task_sampler.py: 1136] +05/25 07:20:51 INFO: [Worker 0] Worker 0 house 1775 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:20:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:20:51 WARNING: [Worker 0] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 in scene [object_manager.py: 1238] +05/25 07:20:51 WARNING: [Worker 0] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene [object_manager.py: 1238] +05/25 07:20:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:22:56 INFO: [Worker 0] Worker 0 house 1775 episode 0 object objametalbar_81e66e5123c44a1c8ca59aebcc0bf110_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:23:00 INFO: [Worker 0] Batching and saving trajectory data for house_1775: 1 episodes [pipeline.py: 233] +05/25 07:23:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:23:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:23:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1775 [save_utils.py: 703] +05/25 07:23:02 INFO: [Worker 0] Successfully saved trajectory data for house_1775 in 2.83s (batch: 2.70s, save: 0.13s) [pipeline.py: 280] +05/25 07:23:03 WARNING: [Worker 0] No trajectory data to save for house_1775 [pipeline.py: 229] +05/25 07:23:03 INFO: [Worker 0] Worker 0 completed house 1775: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:23:03 INFO: [Worker 0] Worker 0 starting house 1822 (index 31/122) [pipeline.py: 473] +05/25 07:23:03 INFO: [Worker 0] Loaded 1 episodes for house 1822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:23:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:23:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1822_ceiling.xml [task_sampler.py: 797] +05/25 07:23:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1822, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:23:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:23:06 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 07:23:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:23:06 INFO: [Worker 0] Sampled task 'Pick up the silver garden trowel' [task_sampler.py: 1136] +05/25 07:23:06 INFO: [Worker 0] Worker 0 house 1822 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:23:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:23:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:25:05 INFO: [Worker 0] Worker 0 house 1822 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 07:25:09 INFO: [Worker 0] Batching and saving trajectory data for house_1822: 1 episodes [pipeline.py: 233] +05/25 07:25:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:25:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:25:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1822 [save_utils.py: 703] +05/25 07:25:12 INFO: [Worker 0] Successfully saved trajectory data for house_1822 in 3.07s (batch: 2.96s, save: 0.11s) [pipeline.py: 280] +05/25 07:25:12 WARNING: [Worker 0] No trajectory data to save for house_1822 [pipeline.py: 229] +05/25 07:25:12 INFO: [Worker 0] Worker 0 completed house 1822: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:25:12 INFO: [Worker 0] Worker 0 starting house 1878 (index 32/122) [pipeline.py: 473] +05/25 07:25:12 INFO: [Worker 0] Loaded 1 episodes for house 1878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:25:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:25:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1878_ceiling.xml [task_sampler.py: 797] +05/25 07:25:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1878, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:25:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:25:15 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/25 07:25:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:25:15 INFO: [Worker 0] Sampled task 'Pick up the blue kerosene lantern with glass globe' [task_sampler.py: 1136] +05/25 07:25:15 INFO: [Worker 0] Worker 0 house 1878 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:25:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:25:16 WARNING: [Worker 0] Could not find object objaterrain_0637e7500cff4e088f4935977fc87309_1_0_6 in scene [object_manager.py: 1238] +05/25 07:25:16 WARNING: [Worker 0] Could not find object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_6 in scene [object_manager.py: 1238] +05/25 07:25:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:27:14 INFO: [Worker 0] Worker 0 house 1878 episode 0 object objalantern_c7a9fa27b8084433b19e1e528eb9a7ce_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:27:17 INFO: [Worker 0] Batching and saving trajectory data for house_1878: 1 episodes [pipeline.py: 233] +05/25 07:27:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:27:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:27:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1878 [save_utils.py: 703] +05/25 07:27:20 INFO: [Worker 0] Successfully saved trajectory data for house_1878 in 2.72s (batch: 2.59s, save: 0.13s) [pipeline.py: 280] +05/25 07:27:21 WARNING: [Worker 0] No trajectory data to save for house_1878 [pipeline.py: 229] +05/25 07:27:21 INFO: [Worker 0] Worker 0 completed house 1878: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:27:21 INFO: [Worker 0] Worker 0 starting house 1912 (index 33/122) [pipeline.py: 473] +05/25 07:27:21 INFO: [Worker 0] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:27:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:27:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1912_ceiling.xml [task_sampler.py: 797] +05/25 07:27:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1912, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:27:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:27:29 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/25 07:27:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:27:29 INFO: [Worker 0] Sampled task 'Pick up the camouflage holographic sight' [task_sampler.py: 1136] +05/25 07:27:29 INFO: [Worker 0] Worker 0 house 1912 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:27:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:27:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:29:55 INFO: [Worker 0] Worker 0 house 1912 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 07:29:59 INFO: [Worker 0] Batching and saving trajectory data for house_1912: 1 episodes [pipeline.py: 233] +05/25 07:29:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:30:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:30:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1912 [save_utils.py: 703] +05/25 07:30:02 INFO: [Worker 0] Successfully saved trajectory data for house_1912 in 2.89s (batch: 2.78s, save: 0.11s) [pipeline.py: 280] +05/25 07:30:03 WARNING: [Worker 0] No trajectory data to save for house_1912 [pipeline.py: 229] +05/25 07:30:03 INFO: [Worker 0] Worker 0 completed house 1912: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:30:03 INFO: [Worker 0] Worker 0 starting house 1945 (index 34/122) [pipeline.py: 473] +05/25 07:30:03 INFO: [Worker 0] Loaded 1 episodes for house 1945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:30:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:30:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1945_ceiling.xml [task_sampler.py: 797] +05/25 07:30:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1945, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:30:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:30:07 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 07:30:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:30:07 INFO: [Worker 0] Sampled task 'Pick up the trumpet' [task_sampler.py: 1136] +05/25 07:30:07 INFO: [Worker 0] Worker 0 house 1945 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:30:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:30:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:30:45 INFO: [Worker 0] Worker 0 house 1945 episode 0 object objatrumpet_924f0f90d14c40eb86b4a985875525a9_1_0_9 completed with success=True [pipeline.py: 1114] +05/25 07:30:49 INFO: [Worker 0] Batching and saving trajectory data for house_1945: 1 episodes [pipeline.py: 233] +05/25 07:30:49 INFO: [Worker 0] Preparing episode data: 123 timesteps [save_utils.py: 284] +05/25 07:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:30:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1945 [save_utils.py: 703] +05/25 07:30:51 INFO: [Worker 0] Successfully saved trajectory data for house_1945 in 2.71s (batch: 2.67s, save: 0.05s) [pipeline.py: 280] +05/25 07:30:52 WARNING: [Worker 0] No trajectory data to save for house_1945 [pipeline.py: 229] +05/25 07:30:52 INFO: [Worker 0] Worker 0 completed house 1945: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:30:52 INFO: [Worker 0] Worker 0 starting house 1972 (index 35/122) [pipeline.py: 473] +05/25 07:30:52 INFO: [Worker 0] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:30:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:30:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1972_ceiling.xml [task_sampler.py: 797] +05/25 07:30:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1972, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:30:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:30:56 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 07:30:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:30:56 INFO: [Worker 0] Sampled task 'Pick up the dark brown stick' [task_sampler.py: 1136] +05/25 07:30:56 INFO: [Worker 0] Worker 0 house 1972 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:30:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:32:46 INFO: [Worker 0] Worker 0 house 1972 episode 0 object objawoodenstick_3ba2224b87d449268084ea854f6fb1fb_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:32:50 INFO: [Worker 0] Batching and saving trajectory data for house_1972: 1 episodes [pipeline.py: 233] +05/25 07:32:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:32:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:32:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1972 [save_utils.py: 703] +05/25 07:32:53 INFO: [Worker 0] Successfully saved trajectory data for house_1972 in 2.96s (batch: 2.84s, save: 0.12s) [pipeline.py: 280] +05/25 07:32:54 WARNING: [Worker 0] No trajectory data to save for house_1972 [pipeline.py: 229] +05/25 07:32:54 INFO: [Worker 0] Worker 0 completed house 1972: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:32:54 INFO: [Worker 0] Worker 0 starting house 2002 (index 36/122) [pipeline.py: 473] +05/25 07:32:54 INFO: [Worker 0] Loaded 1 episodes for house 2002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:32:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:33:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2002_ceiling.xml [task_sampler.py: 797] +05/25 07:33:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2002, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:33:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:33:00 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/25 07:33:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:33:00 INFO: [Worker 0] Sampled task 'Pick up the black vintage camera with rainbow stripe' [task_sampler.py: 1136] +05/25 07:33:00 INFO: [Worker 0] Worker 0 house 2002 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:33:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:33:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:35:04 INFO: [Worker 0] Worker 0 house 2002 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 07:35:08 INFO: [Worker 0] Batching and saving trajectory data for house_2002: 1 episodes [pipeline.py: 233] +05/25 07:35:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:35:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:35:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2002 [save_utils.py: 703] +05/25 07:35:10 INFO: [Worker 0] Successfully saved trajectory data for house_2002 in 2.70s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/25 07:35:11 WARNING: [Worker 0] No trajectory data to save for house_2002 [pipeline.py: 229] +05/25 07:35:11 INFO: [Worker 0] Worker 0 completed house 2002: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:35:11 INFO: [Worker 0] Worker 0 starting house 2033 (index 37/122) [pipeline.py: 473] +05/25 07:35:11 INFO: [Worker 0] Loaded 1 episodes for house 2033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:35:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:35:12 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 07:35:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2033_ceiling.xml [task_sampler.py: 797] +05/25 07:35:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2033, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:35:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:35:14 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/25 07:35:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:35:14 INFO: [Worker 0] Sampled task 'Pick up the ornate beige oval hand mirror' [task_sampler.py: 1136] +05/25 07:35:14 INFO: [Worker 0] Worker 0 house 2033 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:35:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:35:15 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/25 07:35:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:35:38 INFO: [Worker 0] Worker 0 house 2033 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 07:35:42 INFO: [Worker 0] Batching and saving trajectory data for house_2033: 1 episodes [pipeline.py: 233] +05/25 07:35:42 INFO: [Worker 0] Preparing episode data: 97 timesteps [save_utils.py: 284] +05/25 07:35:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:35:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2033 [save_utils.py: 703] +05/25 07:35:44 INFO: [Worker 0] Successfully saved trajectory data for house_2033 in 2.48s (batch: 2.43s, save: 0.06s) [pipeline.py: 280] +05/25 07:35:45 WARNING: [Worker 0] No trajectory data to save for house_2033 [pipeline.py: 229] +05/25 07:35:45 INFO: [Worker 0] Worker 0 completed house 2033: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:35:45 INFO: [Worker 0] Worker 0 starting house 2069 (index 38/122) [pipeline.py: 473] +05/25 07:35:45 INFO: [Worker 0] Loaded 1 episodes for house 2069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:35:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:35:46 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene [scene_maps.py: 66] +05/25 07:35:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2069_ceiling.xml [task_sampler.py: 797] +05/25 07:35:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:35:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:35:49 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/25 07:35:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:35:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:35:49 INFO: [Worker 0] Sampled task 'Pick up the yellow battery with red button' [task_sampler.py: 1136] +05/25 07:35:49 INFO: [Worker 0] Worker 0 house 2069 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:35:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:35:50 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 07:35:50 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_8 in scene [object_manager.py: 1238] +05/25 07:37:45 INFO: [Worker 0] Worker 0 house 2069 episode 0 object objabattery_6c270b8def2b4303869ec14484f2ab05_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 07:37:49 INFO: [Worker 0] Batching and saving trajectory data for house_2069: 1 episodes [pipeline.py: 233] +05/25 07:37:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:37:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:37:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2069 [save_utils.py: 703] +05/25 07:37:52 INFO: [Worker 0] Successfully saved trajectory data for house_2069 in 2.73s (batch: 2.64s, save: 0.10s) [pipeline.py: 280] +05/25 07:37:52 WARNING: [Worker 0] No trajectory data to save for house_2069 [pipeline.py: 229] +05/25 07:37:52 INFO: [Worker 0] Worker 0 completed house 2069: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:37:52 INFO: [Worker 0] Worker 0 starting house 2117 (index 39/122) [pipeline.py: 473] +05/25 07:37:52 INFO: [Worker 0] Loaded 1 episodes for house 2117 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:37:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:38:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2117_ceiling.xml [task_sampler.py: 797] +05/25 07:38:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2117, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:38:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:38:00 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 07:38:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:38:00 INFO: [Worker 0] Sampled task 'Pick up the green metal tool' [task_sampler.py: 1136] +05/25 07:38:00 INFO: [Worker 0] Worker 0 house 2117 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:38:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:38:00 WARNING: [Worker 0] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_5 in scene [object_manager.py: 1238] +05/25 07:38:00 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene [object_manager.py: 1238] +05/25 07:38:00 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_6 in scene [object_manager.py: 1238] +05/25 07:38:27 INFO: [Worker 0] Worker 0 house 2117 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 07:38:30 INFO: [Worker 0] Batching and saving trajectory data for house_2117: 1 episodes [pipeline.py: 233] +05/25 07:38:30 INFO: [Worker 0] Preparing episode data: 82 timesteps [save_utils.py: 284] +05/25 07:38:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:38:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2117 [save_utils.py: 703] +05/25 07:38:33 INFO: [Worker 0] Successfully saved trajectory data for house_2117 in 2.38s (batch: 2.32s, save: 0.06s) [pipeline.py: 280] +05/25 07:38:33 WARNING: [Worker 0] No trajectory data to save for house_2117 [pipeline.py: 229] +05/25 07:38:33 INFO: [Worker 0] Worker 0 completed house 2117: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:38:33 INFO: [Worker 0] Worker 0 starting house 2144 (index 40/122) [pipeline.py: 473] +05/25 07:38:33 INFO: [Worker 0] Loaded 1 episodes for house 2144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:38:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:38:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2144_ceiling.xml [task_sampler.py: 797] +05/25 07:38:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2144, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:38:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:38:35 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/25 07:38:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:38:35 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden rollingpin with ornate handles' [task_sampler.py: 1136] +05/25 07:38:35 INFO: [Worker 0] Worker 0 house 2144 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:38:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:38:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:38:48 INFO: [Worker 0] Worker 0 house 2144 episode 0 object objarollingpin_95b1c036b67a43aab027a8a024fb4c7c_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 07:38:52 INFO: [Worker 0] Batching and saving trajectory data for house_2144: 1 episodes [pipeline.py: 233] +05/25 07:38:52 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/25 07:38:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:38:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2144 [save_utils.py: 703] +05/25 07:38:54 INFO: [Worker 0] Successfully saved trajectory data for house_2144 in 2.38s (batch: 2.35s, save: 0.04s) [pipeline.py: 280] +05/25 07:38:55 WARNING: [Worker 0] No trajectory data to save for house_2144 [pipeline.py: 229] +05/25 07:38:55 INFO: [Worker 0] Worker 0 completed house 2144: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:38:55 INFO: [Worker 0] Worker 0 starting house 2196 (index 41/122) [pipeline.py: 473] +05/25 07:38:55 INFO: [Worker 0] Loaded 1 episodes for house 2196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:38:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:38:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2196_ceiling.xml [task_sampler.py: 797] +05/25 07:38:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2196, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:38:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:38:59 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/25 07:39:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:39:00 INFO: [Worker 0] Sampled task 'Pick up the spanner' [task_sampler.py: 1136] +05/25 07:39:00 INFO: [Worker 0] Worker 0 house 2196 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:39:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:41:24 INFO: [Worker 0] Worker 0 house 2196 episode 0 object objawrench_af1e03fb8b2a4bc79e9f774a6c03f248_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:41:28 INFO: [Worker 0] Batching and saving trajectory data for house_2196: 1 episodes [pipeline.py: 233] +05/25 07:41:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:41:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:41:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2196 [save_utils.py: 703] +05/25 07:41:31 INFO: [Worker 0] Successfully saved trajectory data for house_2196 in 3.10s (batch: 3.00s, save: 0.10s) [pipeline.py: 280] +05/25 07:41:32 WARNING: [Worker 0] No trajectory data to save for house_2196 [pipeline.py: 229] +05/25 07:41:32 INFO: [Worker 0] Worker 0 completed house 2196: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:41:32 INFO: [Worker 0] Worker 0 starting house 2220 (index 42/122) [pipeline.py: 473] +05/25 07:41:32 INFO: [Worker 0] Loaded 1 episodes for house 2220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:41:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:41:33 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene [scene_maps.py: 66] +05/25 07:41:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2220_ceiling.xml [task_sampler.py: 797] +05/25 07:41:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2220, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:41:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:41:36 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/25 07:41:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:41:36 INFO: [Worker 0] Sampled task 'Pick up the cream and red vintage tram model' [task_sampler.py: 1136] +05/25 07:41:36 INFO: [Worker 0] Worker 0 house 2220 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:41:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:41:36 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene [object_manager.py: 1238] +05/25 07:41:36 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_3 in scene [object_manager.py: 1238] +05/25 07:41:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:43:27 INFO: [Worker 0] Worker 0 house 2220 episode 0 object objatoytram_832be807365c49d5b6cb9844c4aa66f8_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 07:43:31 INFO: [Worker 0] Batching and saving trajectory data for house_2220: 1 episodes [pipeline.py: 233] +05/25 07:43:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:43:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:43:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2220 [save_utils.py: 703] +05/25 07:43:33 INFO: [Worker 0] Successfully saved trajectory data for house_2220 in 2.81s (batch: 2.71s, save: 0.10s) [pipeline.py: 280] +05/25 07:43:34 WARNING: [Worker 0] No trajectory data to save for house_2220 [pipeline.py: 229] +05/25 07:43:34 INFO: [Worker 0] Worker 0 completed house 2220: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:43:34 INFO: [Worker 0] Worker 0 starting house 2278 (index 43/122) [pipeline.py: 473] +05/25 07:43:34 INFO: [Worker 0] Loaded 1 episodes for house 2278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:43:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:43:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2278_ceiling.xml [task_sampler.py: 797] +05/25 07:43:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2278, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:43:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:43:36 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 07:43:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:43:36 INFO: [Worker 0] Sampled task 'Pick up the blue blades' [task_sampler.py: 1136] +05/25 07:43:36 INFO: [Worker 0] Worker 0 house 2278 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:43:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:43:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:43:56 INFO: [Worker 0] Worker 0 house 2278 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_3_0_2 completed with success=True [pipeline.py: 1114] +05/25 07:43:59 INFO: [Worker 0] Batching and saving trajectory data for house_2278: 1 episodes [pipeline.py: 233] +05/25 07:43:59 INFO: [Worker 0] Preparing episode data: 93 timesteps [save_utils.py: 284] +05/25 07:44:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:44:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2278 [save_utils.py: 703] +05/25 07:44:02 INFO: [Worker 0] Successfully saved trajectory data for house_2278 in 2.49s (batch: 2.44s, save: 0.05s) [pipeline.py: 280] +05/25 07:44:02 WARNING: [Worker 0] No trajectory data to save for house_2278 [pipeline.py: 229] +05/25 07:44:02 INFO: [Worker 0] Worker 0 completed house 2278: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:44:02 INFO: [Worker 0] Worker 0 starting house 2319 (index 44/122) [pipeline.py: 473] +05/25 07:44:02 INFO: [Worker 0] Loaded 1 episodes for house 2319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:44:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:44:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2319_ceiling.xml [task_sampler.py: 797] +05/25 07:44:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2319, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:44:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:44:06 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 07:44:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:44:06 INFO: [Worker 0] Sampled task 'Pick up the pixelated wooden torch with bright flame' [task_sampler.py: 1136] +05/25 07:44:06 INFO: [Worker 0] Worker 0 house 2319 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:44:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:44:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:45:56 INFO: [Worker 0] Worker 0 house 2319 episode 0 object objatorch_6439d269a70a4c7e85afbed53d96581c_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 07:45:59 INFO: [Worker 0] Batching and saving trajectory data for house_2319: 1 episodes [pipeline.py: 233] +05/25 07:45:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:46:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:46:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2319 [save_utils.py: 703] +05/25 07:46:02 INFO: [Worker 0] Successfully saved trajectory data for house_2319 in 2.78s (batch: 2.67s, save: 0.11s) [pipeline.py: 280] +05/25 07:46:03 WARNING: [Worker 0] No trajectory data to save for house_2319 [pipeline.py: 229] +05/25 07:46:03 INFO: [Worker 0] Worker 0 completed house 2319: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:46:03 INFO: [Worker 0] Worker 0 starting house 2358 (index 45/122) [pipeline.py: 473] +05/25 07:46:03 INFO: [Worker 0] Loaded 1 episodes for house 2358 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:46:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:46:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2358_ceiling.xml [task_sampler.py: 797] +05/25 07:46:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2358, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:46:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:46:08 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 07:46:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:46:09 INFO: [Worker 0] Sampled task 'Pick up the spatula' [task_sampler.py: 1136] +05/25 07:46:09 INFO: [Worker 0] Worker 0 house 2358 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:46:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:46:09 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene [object_manager.py: 1238] +05/25 07:46:09 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene [object_manager.py: 1238] +05/25 07:46:09 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene [object_manager.py: 1238] +05/25 07:46:09 WARNING: [Worker 0] Could not find object Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_8 in scene [object_manager.py: 1238] +05/25 07:46:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:46:46 INFO: [Worker 0] Worker 0 house 2358 episode 0 object objaspatula_8780c90f32e241469730b4e470144a91_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 07:46:50 INFO: [Worker 0] Batching and saving trajectory data for house_2358: 1 episodes [pipeline.py: 233] +05/25 07:46:50 INFO: [Worker 0] Preparing episode data: 120 timesteps [save_utils.py: 284] +05/25 07:46:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:46:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2358 [save_utils.py: 703] +05/25 07:46:53 INFO: [Worker 0] Successfully saved trajectory data for house_2358 in 2.59s (batch: 2.54s, save: 0.05s) [pipeline.py: 280] +05/25 07:46:53 WARNING: [Worker 0] No trajectory data to save for house_2358 [pipeline.py: 229] +05/25 07:46:53 INFO: [Worker 0] Worker 0 completed house 2358: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:46:53 INFO: [Worker 0] Worker 0 starting house 2399 (index 46/122) [pipeline.py: 473] +05/25 07:46:53 INFO: [Worker 0] Loaded 1 episodes for house 2399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:46:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:47:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2399_ceiling.xml [task_sampler.py: 797] +05/25 07:47:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2399, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:47:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:47:01 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 07:47:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:47:01 INFO: [Worker 0] Sampled task 'Pick up the gray dragon pipe with scales' [task_sampler.py: 1136] +05/25 07:47:01 INFO: [Worker 0] Worker 0 house 2399 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:47:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:47:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:47:12 INFO: [Worker 0] Worker 0 house 2399 episode 0 object objadecorativepipe_d15cec3c902c43efb2484b0eb0ed707f_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 07:47:16 INFO: [Worker 0] Batching and saving trajectory data for house_2399: 1 episodes [pipeline.py: 233] +05/25 07:47:16 INFO: [Worker 0] Preparing episode data: 33 timesteps [save_utils.py: 284] +05/25 07:47:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:47:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2399 [save_utils.py: 703] +05/25 07:47:19 INFO: [Worker 0] Successfully saved trajectory data for house_2399 in 2.64s (batch: 2.60s, save: 0.04s) [pipeline.py: 280] +05/25 07:47:19 WARNING: [Worker 0] No trajectory data to save for house_2399 [pipeline.py: 229] +05/25 07:47:19 INFO: [Worker 0] Worker 0 completed house 2399: 1/1 successful episodes [pipeline.py: 1243] +05/25 07:47:19 INFO: [Worker 0] Worker 0 starting house 2419 (index 47/122) [pipeline.py: 473] +05/25 07:47:19 INFO: [Worker 0] Loaded 1 episodes for house 2419 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:47:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:47:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2419_ceiling.xml [task_sampler.py: 797] +05/25 07:47:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2419, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:47:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:47:25 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 07:47:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:47:26 INFO: [Worker 0] Sampled task 'Pick up the white rectangular wall plate' [task_sampler.py: 1136] +05/25 07:47:26 INFO: [Worker 0] Worker 0 house 2419 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:47:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:47:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:49:58 INFO: [Worker 0] Worker 0 house 2419 episode 0 object objawallplate_31f435c400aa4287a077f7690cda74a4_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 07:50:02 INFO: [Worker 0] Batching and saving trajectory data for house_2419: 1 episodes [pipeline.py: 233] +05/25 07:50:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:50:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:50:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2419 [save_utils.py: 703] +05/25 07:50:05 INFO: [Worker 0] Successfully saved trajectory data for house_2419 in 2.83s (batch: 2.73s, save: 0.10s) [pipeline.py: 280] +05/25 07:50:05 WARNING: [Worker 0] No trajectory data to save for house_2419 [pipeline.py: 229] +05/25 07:50:05 INFO: [Worker 0] Worker 0 completed house 2419: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:50:05 INFO: [Worker 0] Worker 0 starting house 2472 (index 48/122) [pipeline.py: 473] +05/25 07:50:05 INFO: [Worker 0] Loaded 1 episodes for house 2472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:50:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:50:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2472_ceiling.xml [task_sampler.py: 797] +05/25 07:50:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2472, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:50:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:50:07 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 07:50:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:50:07 INFO: [Worker 0] Sampled task 'Pick up the reddish leather book with teeth' [task_sampler.py: 1136] +05/25 07:50:07 INFO: [Worker 0] Worker 0 house 2472 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:50:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:50:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:51:47 INFO: [Worker 0] Worker 0 house 2472 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 07:51:51 INFO: [Worker 0] Batching and saving trajectory data for house_2472: 1 episodes [pipeline.py: 233] +05/25 07:51:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:51:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:51:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2472 [save_utils.py: 703] +05/25 07:51:53 INFO: [Worker 0] Successfully saved trajectory data for house_2472 in 2.72s (batch: 2.61s, save: 0.11s) [pipeline.py: 280] +05/25 07:51:54 WARNING: [Worker 0] No trajectory data to save for house_2472 [pipeline.py: 229] +05/25 07:51:54 INFO: [Worker 0] Worker 0 completed house 2472: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:51:54 INFO: [Worker 0] Worker 0 starting house 2512 (index 49/122) [pipeline.py: 473] +05/25 07:51:54 INFO: [Worker 0] Loaded 2 episodes for house 2512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:51:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:51:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2512_ceiling.xml [task_sampler.py: 797] +05/25 07:51:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2512, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:51:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:51:58 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 07:51:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:51:58 INFO: [Worker 0] Sampled task 'Pick up the chocolate bar' [task_sampler.py: 1136] +05/25 07:51:58 INFO: [Worker 0] Worker 0 house 2512 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 07:51:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:51:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:52:10 INFO: [Worker 0] Worker 0 house 2512 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 07:52:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:52:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2512_ceiling.xml [task_sampler.py: 797] +05/25 07:52:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2512, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:52:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:52:17 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 07:52:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:52:17 INFO: [Worker 0] Sampled task 'Pick up the blue futuristic collectible card' [task_sampler.py: 1136] +05/25 07:52:17 INFO: [Worker 0] Worker 0 house 2512 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 07:52:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:52:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:54:28 INFO: [Worker 0] Worker 0 house 2512 episode 1 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 07:54:32 INFO: [Worker 0] Batching and saving trajectory data for house_2512: 2 episodes [pipeline.py: 233] +05/25 07:54:32 INFO: [Worker 0] Preparing episode data: 41 timesteps [save_utils.py: 284] +05/25 07:54:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:54:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:54:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:54:38 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2512 [save_utils.py: 703] +05/25 07:54:38 INFO: [Worker 0] Successfully saved trajectory data for house_2512 in 5.58s (batch: 5.44s, save: 0.14s) [pipeline.py: 280] +05/25 07:54:39 WARNING: [Worker 0] No trajectory data to save for house_2512 [pipeline.py: 229] +05/25 07:54:39 INFO: [Worker 0] Worker 0 completed house 2512: 1/2 successful episodes [pipeline.py: 1243] +05/25 07:54:39 INFO: [Worker 0] Worker 0 starting house 2513 (index 50/122) [pipeline.py: 473] +05/25 07:54:39 INFO: [Worker 0] Loaded 1 episodes for house 2513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:54:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:54:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2513_ceiling.xml [task_sampler.py: 797] +05/25 07:54:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2513, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:54:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:54:42 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 07:54:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:54:42 INFO: [Worker 0] Sampled task 'Pick up the chocolate layered cake slice' [task_sampler.py: 1136] +05/25 07:54:42 INFO: [Worker 0] Worker 0 house 2513 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:54:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:54:42 WARNING: [Worker 0] Could not find object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_2 in scene [object_manager.py: 1238] +05/25 07:54:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:56:40 INFO: [Worker 0] Worker 0 house 2513 episode 0 object objacake_ffd73e3de9754cc695dafd8a382cd01d_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:56:44 INFO: [Worker 0] Batching and saving trajectory data for house_2513: 1 episodes [pipeline.py: 233] +05/25 07:56:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:56:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2513 [save_utils.py: 703] +05/25 07:56:47 INFO: [Worker 0] Successfully saved trajectory data for house_2513 in 3.13s (batch: 3.02s, save: 0.11s) [pipeline.py: 280] +05/25 07:56:47 WARNING: [Worker 0] No trajectory data to save for house_2513 [pipeline.py: 229] +05/25 07:56:47 INFO: [Worker 0] Worker 0 completed house 2513: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:56:47 INFO: [Worker 0] Worker 0 starting house 2553 (index 51/122) [pipeline.py: 473] +05/25 07:56:47 INFO: [Worker 0] Loaded 1 episodes for house 2553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:56:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:56:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2553_ceiling.xml [task_sampler.py: 797] +05/25 07:56:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2553, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:56:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:56:53 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 07:56:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:56:53 INFO: [Worker 0] Sampled task 'Pick up the dried bouquet' [task_sampler.py: 1136] +05/25 07:56:53 INFO: [Worker 0] Worker 0 house 2553 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:56:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:56:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 07:59:03 INFO: [Worker 0] Worker 0 house 2553 episode 0 object objabouquet_9c5bea0d812a459297b805ff7658b7e0_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 07:59:07 INFO: [Worker 0] Batching and saving trajectory data for house_2553: 1 episodes [pipeline.py: 233] +05/25 07:59:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 07:59:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 07:59:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2553 [save_utils.py: 703] +05/25 07:59:09 INFO: [Worker 0] Successfully saved trajectory data for house_2553 in 2.66s (batch: 2.56s, save: 0.10s) [pipeline.py: 280] +05/25 07:59:10 WARNING: [Worker 0] No trajectory data to save for house_2553 [pipeline.py: 229] +05/25 07:59:10 INFO: [Worker 0] Worker 0 completed house 2553: 0/1 successful episodes [pipeline.py: 1243] +05/25 07:59:10 INFO: [Worker 0] Worker 0 starting house 2590 (index 52/122) [pipeline.py: 473] +05/25 07:59:10 INFO: [Worker 0] Loaded 1 episodes for house 2590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 07:59:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 07:59:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2590_ceiling.xml [task_sampler.py: 797] +05/25 07:59:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2590, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 07:59:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 07:59:14 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 07:59:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 07:59:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 07:59:14 INFO: [Worker 0] Sampled task 'Pick up the brown artifact' [task_sampler.py: 1136] +05/25 07:59:14 INFO: [Worker 0] Worker 0 house 2590 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 07:59:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 07:59:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:01:19 INFO: [Worker 0] Worker 0 house 2590 episode 0 object objaartifact_a87fc6df8620462e80569af2e476f761_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 08:01:22 INFO: [Worker 0] Batching and saving trajectory data for house_2590: 1 episodes [pipeline.py: 233] +05/25 08:01:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:01:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:01:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2590 [save_utils.py: 703] +05/25 08:01:25 INFO: [Worker 0] Successfully saved trajectory data for house_2590 in 2.65s (batch: 2.55s, save: 0.10s) [pipeline.py: 280] +05/25 08:01:26 WARNING: [Worker 0] No trajectory data to save for house_2590 [pipeline.py: 229] +05/25 08:01:26 INFO: [Worker 0] Worker 0 completed house 2590: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:01:26 INFO: [Worker 0] Worker 0 starting house 2633 (index 53/122) [pipeline.py: 473] +05/25 08:01:26 INFO: [Worker 0] Loaded 1 episodes for house 2633 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:01:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:01:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2633_ceiling.xml [task_sampler.py: 797] +05/25 08:01:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2633, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:01:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:01:27 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/25 08:01:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:01:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:01:27 INFO: [Worker 0] Sampled task 'Pick up the rectangular weathered wood with moss' [task_sampler.py: 1136] +05/25 08:01:27 INFO: [Worker 0] Worker 0 house 2633 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:01:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:01:28 WARNING: [Worker 0] Could not find object objaequipment_c125c5c1e56840e68ea00068c5216279_1_0_2 in scene [object_manager.py: 1238] +05/25 08:01:28 WARNING: [Worker 0] Could not find object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_3 in scene [object_manager.py: 1238] +05/25 08:01:28 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene [object_manager.py: 1238] +05/25 08:01:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:01:49 INFO: [Worker 0] Worker 0 house 2633 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 08:01:52 INFO: [Worker 0] Batching and saving trajectory data for house_2633: 1 episodes [pipeline.py: 233] +05/25 08:01:52 INFO: [Worker 0] Preparing episode data: 88 timesteps [save_utils.py: 284] +05/25 08:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:01:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2633 [save_utils.py: 703] +05/25 08:01:55 INFO: [Worker 0] Successfully saved trajectory data for house_2633 in 2.51s (batch: 2.47s, save: 0.04s) [pipeline.py: 280] +05/25 08:01:55 WARNING: [Worker 0] No trajectory data to save for house_2633 [pipeline.py: 229] +05/25 08:01:55 INFO: [Worker 0] Worker 0 completed house 2633: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:01:55 INFO: [Worker 0] Worker 0 starting house 2655 (index 54/122) [pipeline.py: 473] +05/25 08:01:55 INFO: [Worker 0] Loaded 1 episodes for house 2655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:01:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:01:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2655_ceiling.xml [task_sampler.py: 797] +05/25 08:01:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2655, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:01:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:01:57 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 08:01:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:01:57 INFO: [Worker 0] Sampled task 'Pick up the white rectangular light switch plate' [task_sampler.py: 1136] +05/25 08:01:57 INFO: [Worker 0] Worker 0 house 2655 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:01:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:01:58 WARNING: [Worker 0] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_3 in scene [object_manager.py: 1238] +05/25 08:01:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:03:38 INFO: [Worker 0] Worker 0 house 2655 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 08:03:42 INFO: [Worker 0] Batching and saving trajectory data for house_2655: 1 episodes [pipeline.py: 233] +05/25 08:03:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:03:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:03:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2655 [save_utils.py: 703] +05/25 08:03:45 INFO: [Worker 0] Successfully saved trajectory data for house_2655 in 3.00s (batch: 2.90s, save: 0.10s) [pipeline.py: 280] +05/25 08:03:46 WARNING: [Worker 0] No trajectory data to save for house_2655 [pipeline.py: 229] +05/25 08:03:46 INFO: [Worker 0] Worker 0 completed house 2655: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:03:46 INFO: [Worker 0] Worker 0 starting house 2704 (index 55/122) [pipeline.py: 473] +05/25 08:03:46 INFO: [Worker 0] Loaded 1 episodes for house 2704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:03:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:03:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2704_ceiling.xml [task_sampler.py: 797] +05/25 08:03:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2704, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:03:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:03:49 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/25 08:03:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:03:49 INFO: [Worker 0] Sampled task 'Pick up the garden gnome' [task_sampler.py: 1136] +05/25 08:03:49 INFO: [Worker 0] Worker 0 house 2704 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:03:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:04:14 INFO: [Worker 0] Worker 0 house 2704 episode 0 object objagardengnome_2512c6b3e5724d298428decd0f812be8_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:04:18 INFO: [Worker 0] Batching and saving trajectory data for house_2704: 1 episodes [pipeline.py: 233] +05/25 08:04:18 INFO: [Worker 0] Preparing episode data: 97 timesteps [save_utils.py: 284] +05/25 08:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:04:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2704 [save_utils.py: 703] +05/25 08:04:21 INFO: [Worker 0] Successfully saved trajectory data for house_2704 in 2.74s (batch: 2.69s, save: 0.05s) [pipeline.py: 280] +05/25 08:04:22 WARNING: [Worker 0] No trajectory data to save for house_2704 [pipeline.py: 229] +05/25 08:04:22 INFO: [Worker 0] Worker 0 completed house 2704: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:04:22 INFO: [Worker 0] Worker 0 starting house 2735 (index 56/122) [pipeline.py: 473] +05/25 08:04:22 INFO: [Worker 0] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:04:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:04:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2735_ceiling.xml [task_sampler.py: 797] +05/25 08:04:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2735, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:04:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:04:32 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/25 08:04:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:04:32 INFO: [Worker 0] Sampled task 'Pick up the metal spear' [task_sampler.py: 1136] +05/25 08:04:32 INFO: [Worker 0] Worker 0 house 2735 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:04:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:04:32 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene [object_manager.py: 1238] +05/25 08:04:32 WARNING: [Worker 0] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene [object_manager.py: 1238] +05/25 08:07:18 INFO: [Worker 0] Worker 0 house 2735 episode 0 object objaspear_0bc11c748cb44ba39d21f657cc91797a_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:07:21 INFO: [Worker 0] Batching and saving trajectory data for house_2735: 1 episodes [pipeline.py: 233] +05/25 08:07:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:07:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:07:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2735 [save_utils.py: 703] +05/25 08:07:24 INFO: [Worker 0] Successfully saved trajectory data for house_2735 in 2.66s (batch: 2.55s, save: 0.12s) [pipeline.py: 280] +05/25 08:07:24 WARNING: [Worker 0] No trajectory data to save for house_2735 [pipeline.py: 229] +05/25 08:07:24 INFO: [Worker 0] Worker 0 completed house 2735: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:07:24 INFO: [Worker 0] Worker 0 starting house 2771 (index 57/122) [pipeline.py: 473] +05/25 08:07:24 INFO: [Worker 0] Loaded 1 episodes for house 2771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:07:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:07:25 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:07:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2771_ceiling.xml [task_sampler.py: 797] +05/25 08:07:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2771, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:07:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:07:28 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 08:07:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:07:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:07:28 INFO: [Worker 0] Sampled task 'Pick up the black candle with gold' [task_sampler.py: 1136] +05/25 08:07:28 INFO: [Worker 0] Worker 0 house 2771 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:07:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:07:28 WARNING: [Worker 0] Could not find object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 in scene [object_manager.py: 1238] +05/25 08:07:28 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_8 in scene [object_manager.py: 1238] +05/25 08:09:51 INFO: [Worker 0] Worker 0 house 2771 episode 0 object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 08:09:55 INFO: [Worker 0] Batching and saving trajectory data for house_2771: 1 episodes [pipeline.py: 233] +05/25 08:09:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:09:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:09:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2771 [save_utils.py: 703] +05/25 08:09:59 INFO: [Worker 0] Successfully saved trajectory data for house_2771 in 3.33s (batch: 3.20s, save: 0.13s) [pipeline.py: 280] +05/25 08:09:59 WARNING: [Worker 0] No trajectory data to save for house_2771 [pipeline.py: 229] +05/25 08:09:59 INFO: [Worker 0] Worker 0 completed house 2771: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:09:59 INFO: [Worker 0] Worker 0 starting house 2819 (index 58/122) [pipeline.py: 473] +05/25 08:09:59 INFO: [Worker 0] Loaded 1 episodes for house 2819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:09:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:10:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2819_ceiling.xml [task_sampler.py: 797] +05/25 08:10:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2819, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:10:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:10:09 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/25 08:10:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:10:09 INFO: [Worker 0] Sampled task 'Pick up the gray curved shoe last' [task_sampler.py: 1136] +05/25 08:10:09 INFO: [Worker 0] Worker 0 house 2819 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:10:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:10:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:12:33 INFO: [Worker 0] Worker 0 house 2819 episode 0 object objashoelast_381a6ac90d194e4bbe49c05e20fa24fd_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:12:36 INFO: [Worker 0] Batching and saving trajectory data for house_2819: 1 episodes [pipeline.py: 233] +05/25 08:12:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:12:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:12:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2819 [save_utils.py: 703] +05/25 08:12:39 INFO: [Worker 0] Successfully saved trajectory data for house_2819 in 2.71s (batch: 2.60s, save: 0.11s) [pipeline.py: 280] +05/25 08:12:39 WARNING: [Worker 0] No trajectory data to save for house_2819 [pipeline.py: 229] +05/25 08:12:39 INFO: [Worker 0] Worker 0 completed house 2819: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:12:39 INFO: [Worker 0] Worker 0 starting house 2854 (index 59/122) [pipeline.py: 473] +05/25 08:12:39 INFO: [Worker 0] Loaded 1 episodes for house 2854 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:12:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:12:42 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:12:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2854_ceiling.xml [task_sampler.py: 797] +05/25 08:12:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2854, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:12:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:12:45 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/25 08:12:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:12:45 INFO: [Worker 0] Sampled task 'Pick up the seal' [task_sampler.py: 1136] +05/25 08:12:45 INFO: [Worker 0] Worker 0 house 2854 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:12:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:12:46 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 08:14:47 INFO: [Worker 0] Worker 0 house 2854 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 08:14:51 INFO: [Worker 0] Batching and saving trajectory data for house_2854: 1 episodes [pipeline.py: 233] +05/25 08:14:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:14:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:14:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2854 [save_utils.py: 703] +05/25 08:14:53 INFO: [Worker 0] Successfully saved trajectory data for house_2854 in 2.63s (batch: 2.54s, save: 0.10s) [pipeline.py: 280] +05/25 08:14:54 WARNING: [Worker 0] No trajectory data to save for house_2854 [pipeline.py: 229] +05/25 08:14:54 INFO: [Worker 0] Worker 0 completed house 2854: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:14:54 INFO: [Worker 0] Worker 0 starting house 2885 (index 60/122) [pipeline.py: 473] +05/25 08:14:54 INFO: [Worker 0] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:14:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:15:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2885_ceiling.xml [task_sampler.py: 797] +05/25 08:15:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2885, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:15:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:15:03 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 08:15:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:15:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:15:03 INFO: [Worker 0] Sampled task 'Pick up the wooden humanoid puzzle piece' [task_sampler.py: 1136] +05/25 08:15:03 INFO: [Worker 0] Worker 0 house 2885 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:15:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:15:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:17:21 INFO: [Worker 0] Worker 0 house 2885 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:17:25 INFO: [Worker 0] Batching and saving trajectory data for house_2885: 1 episodes [pipeline.py: 233] +05/25 08:17:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:17:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:17:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2885 [save_utils.py: 703] +05/25 08:17:28 INFO: [Worker 0] Successfully saved trajectory data for house_2885 in 2.86s (batch: 2.76s, save: 0.10s) [pipeline.py: 280] +05/25 08:17:28 WARNING: [Worker 0] No trajectory data to save for house_2885 [pipeline.py: 229] +05/25 08:17:28 INFO: [Worker 0] Worker 0 completed house 2885: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:17:28 INFO: [Worker 0] Worker 0 starting house 2932 (index 61/122) [pipeline.py: 473] +05/25 08:17:28 INFO: [Worker 0] Loaded 1 episodes for house 2932 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:17:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:17:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2932_ceiling.xml [task_sampler.py: 797] +05/25 08:17:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2932, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:17:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:17:34 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 08:17:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:17:34 INFO: [Worker 0] Sampled task 'Pick up the small pale triangular stone arrowhead' [task_sampler.py: 1136] +05/25 08:17:34 INFO: [Worker 0] Worker 0 house 2932 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:17:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:17:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:19:59 INFO: [Worker 0] Worker 0 house 2932 episode 0 object objaarrowhead_fc1d91fa4bdd4407898cbe512c24fe8b_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 08:20:03 INFO: [Worker 0] Batching and saving trajectory data for house_2932: 1 episodes [pipeline.py: 233] +05/25 08:20:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:20:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:20:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2932 [save_utils.py: 703] +05/25 08:20:06 INFO: [Worker 0] Successfully saved trajectory data for house_2932 in 2.98s (batch: 2.88s, save: 0.10s) [pipeline.py: 280] +05/25 08:20:07 WARNING: [Worker 0] No trajectory data to save for house_2932 [pipeline.py: 229] +05/25 08:20:07 INFO: [Worker 0] Worker 0 completed house 2932: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:20:07 INFO: [Worker 0] Worker 0 starting house 2976 (index 62/122) [pipeline.py: 473] +05/25 08:20:07 INFO: [Worker 0] Loaded 1 episodes for house 2976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:20:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:20:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2976_ceiling.xml [task_sampler.py: 797] +05/25 08:20:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2976, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:20:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:20:10 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 08:20:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:20:10 INFO: [Worker 0] Sampled task 'Pick up the silver tiara with pink accents' [task_sampler.py: 1136] +05/25 08:20:10 INFO: [Worker 0] Worker 0 house 2976 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:20:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:22:14 INFO: [Worker 0] Worker 0 house 2976 episode 0 object objatiara_806e2009917d4de7b2911bb536feb687_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 08:22:18 INFO: [Worker 0] Batching and saving trajectory data for house_2976: 1 episodes [pipeline.py: 233] +05/25 08:22:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:22:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:22:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2976 [save_utils.py: 703] +05/25 08:22:21 INFO: [Worker 0] Successfully saved trajectory data for house_2976 in 2.86s (batch: 2.75s, save: 0.10s) [pipeline.py: 280] +05/25 08:22:22 WARNING: [Worker 0] No trajectory data to save for house_2976 [pipeline.py: 229] +05/25 08:22:22 INFO: [Worker 0] Worker 0 completed house 2976: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:22:22 INFO: [Worker 0] Worker 0 starting house 3027 (index 63/122) [pipeline.py: 473] +05/25 08:22:22 INFO: [Worker 0] Loaded 1 episodes for house 3027 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:22:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:22:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3027_ceiling.xml [task_sampler.py: 797] +05/25 08:22:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3027, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:22:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:22:29 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 08:22:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:22:29 INFO: [Worker 0] Sampled task 'Pick up the gray toy gun' [task_sampler.py: 1136] +05/25 08:22:29 INFO: [Worker 0] Worker 0 house 3027 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:22:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:22:29 WARNING: [Worker 0] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 in scene [object_manager.py: 1238] +05/25 08:22:29 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene [object_manager.py: 1238] +05/25 08:22:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:22:52 INFO: [Worker 0] Worker 0 house 3027 episode 0 object objatoygun_07b3f6bb554c4516a4bfc2bfe4bf0c2b_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 08:22:56 INFO: [Worker 0] Batching and saving trajectory data for house_3027: 1 episodes [pipeline.py: 233] +05/25 08:22:56 INFO: [Worker 0] Preparing episode data: 72 timesteps [save_utils.py: 284] +05/25 08:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:22:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3027 [save_utils.py: 703] +05/25 08:22:58 INFO: [Worker 0] Successfully saved trajectory data for house_3027 in 2.67s (batch: 2.63s, save: 0.04s) [pipeline.py: 280] +05/25 08:22:59 WARNING: [Worker 0] No trajectory data to save for house_3027 [pipeline.py: 229] +05/25 08:22:59 INFO: [Worker 0] Worker 0 completed house 3027: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:22:59 INFO: [Worker 0] Worker 0 starting house 3060 (index 64/122) [pipeline.py: 473] +05/25 08:22:59 INFO: [Worker 0] Loaded 1 episodes for house 3060 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:22:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:23:01 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:23:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3060_ceiling.xml [task_sampler.py: 797] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3060, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:23:04 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/25 08:23:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:23:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:23:04 INFO: [Worker 0] Sampled task 'Pick up the orange white ceramic brooch' [task_sampler.py: 1136] +05/25 08:23:04 INFO: [Worker 0] Worker 0 house 3060 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:23:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:23:04 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:04 WARNING: [Worker 0] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:04 WARNING: [Worker 0] Could not find object objatorch_48e56d1bf89e46e7bcdccbbb997471f7_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:04 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:04 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:23:16 INFO: [Worker 0] Worker 0 house 3060 episode 0 object objabrooch_43fdfc6ac7b1453c80e1949cc48ee038_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 08:23:19 INFO: [Worker 0] Batching and saving trajectory data for house_3060: 1 episodes [pipeline.py: 233] +05/25 08:23:20 INFO: [Worker 0] Preparing episode data: 41 timesteps [save_utils.py: 284] +05/25 08:23:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:23:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3060 [save_utils.py: 703] +05/25 08:23:22 INFO: [Worker 0] Successfully saved trajectory data for house_3060 in 2.44s (batch: 2.40s, save: 0.04s) [pipeline.py: 280] +05/25 08:23:23 WARNING: [Worker 0] No trajectory data to save for house_3060 [pipeline.py: 229] +05/25 08:23:23 INFO: [Worker 0] Worker 0 completed house 3060: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:23:23 INFO: [Worker 0] Worker 0 starting house 3105 (index 65/122) [pipeline.py: 473] +05/25 08:23:23 INFO: [Worker 0] Loaded 1 episodes for house 3105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:23:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:23:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3105_ceiling.xml [task_sampler.py: 797] +05/25 08:23:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3105, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:23:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:23:31 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/25 08:23:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:23:31 INFO: [Worker 0] Sampled task 'Pick up the ace of spades' [task_sampler.py: 1136] +05/25 08:23:31 INFO: [Worker 0] Worker 0 house 3105 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:23:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:23:31 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:31 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:31 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:31 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:31 WARNING: [Worker 0] Could not find object objanecklace_8443411f882f41bfbde99785b22c9503_1_0_5 in scene [object_manager.py: 1238] +05/25 08:23:31 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_8 in scene [object_manager.py: 1238] +05/25 08:25:52 INFO: [Worker 0] Worker 0 house 3105 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 08:25:56 INFO: [Worker 0] Batching and saving trajectory data for house_3105: 1 episodes [pipeline.py: 233] +05/25 08:25:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:25:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:25:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3105 [save_utils.py: 703] +05/25 08:25:59 INFO: [Worker 0] Successfully saved trajectory data for house_3105 in 3.10s (batch: 2.98s, save: 0.12s) [pipeline.py: 280] +05/25 08:26:00 WARNING: [Worker 0] No trajectory data to save for house_3105 [pipeline.py: 229] +05/25 08:26:00 INFO: [Worker 0] Worker 0 completed house 3105: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:26:00 INFO: [Worker 0] Worker 0 starting house 3191 (index 66/122) [pipeline.py: 473] +05/25 08:26:00 INFO: [Worker 0] Loaded 1 episodes for house 3191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:26:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:26:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3191_ceiling.xml [task_sampler.py: 797] +05/25 08:26:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3191, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:26:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:26:06 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 08:26:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:26:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:26:06 INFO: [Worker 0] Sampled task 'Pick up the smooth elongated gray stone with taper' [task_sampler.py: 1136] +05/25 08:26:06 INFO: [Worker 0] Worker 0 house 3191 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:26:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:26:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:28:11 INFO: [Worker 0] Worker 0 house 3191 episode 0 object objastoneartifact_58a50d12190a4248ba4bbd1f29b8053d_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:28:15 INFO: [Worker 0] Batching and saving trajectory data for house_3191: 1 episodes [pipeline.py: 233] +05/25 08:28:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:28:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:28:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3191 [save_utils.py: 703] +05/25 08:28:18 INFO: [Worker 0] Successfully saved trajectory data for house_3191 in 2.83s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/25 08:28:19 WARNING: [Worker 0] No trajectory data to save for house_3191 [pipeline.py: 229] +05/25 08:28:19 INFO: [Worker 0] Worker 0 completed house 3191: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:28:19 INFO: [Worker 0] Worker 0 starting house 3226 (index 67/122) [pipeline.py: 473] +05/25 08:28:19 INFO: [Worker 0] Loaded 1 episodes for house 3226 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:28:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:28:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3226_ceiling.xml [task_sampler.py: 797] +05/25 08:28:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3226, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:28:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:28:22 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 08:28:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:28:22 INFO: [Worker 0] Sampled task 'Pick up the sandal with white strap' [task_sampler.py: 1136] +05/25 08:28:22 INFO: [Worker 0] Worker 0 house 3226 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:28:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:30:33 INFO: [Worker 0] Worker 0 house 3226 episode 0 object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 08:30:38 INFO: [Worker 0] Batching and saving trajectory data for house_3226: 1 episodes [pipeline.py: 233] +05/25 08:30:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:30:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:30:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3226 [save_utils.py: 703] +05/25 08:30:40 INFO: [Worker 0] Successfully saved trajectory data for house_3226 in 2.70s (batch: 2.60s, save: 0.10s) [pipeline.py: 280] +05/25 08:30:41 WARNING: [Worker 0] No trajectory data to save for house_3226 [pipeline.py: 229] +05/25 08:30:41 INFO: [Worker 0] Worker 0 completed house 3226: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:30:41 INFO: [Worker 0] Worker 0 starting house 3246 (index 68/122) [pipeline.py: 473] +05/25 08:30:41 INFO: [Worker 0] Loaded 1 episodes for house 3246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:30:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:30:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3246_ceiling.xml [task_sampler.py: 797] +05/25 08:30:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3246, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:30:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:30:49 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/25 08:30:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:30:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:30:49 INFO: [Worker 0] Sampled task 'Pick up the black device' [task_sampler.py: 1136] +05/25 08:30:49 INFO: [Worker 0] Worker 0 house 3246 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:30:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:31:27 INFO: [Worker 0] Worker 0 house 3246 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:31:30 INFO: [Worker 0] Batching and saving trajectory data for house_3246: 1 episodes [pipeline.py: 233] +05/25 08:31:31 INFO: [Worker 0] Preparing episode data: 121 timesteps [save_utils.py: 284] +05/25 08:31:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:31:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3246 [save_utils.py: 703] +05/25 08:31:33 INFO: [Worker 0] Successfully saved trajectory data for house_3246 in 2.56s (batch: 2.51s, save: 0.05s) [pipeline.py: 280] +05/25 08:31:34 WARNING: [Worker 0] No trajectory data to save for house_3246 [pipeline.py: 229] +05/25 08:31:34 INFO: [Worker 0] Worker 0 completed house 3246: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:31:34 INFO: [Worker 0] Worker 0 starting house 3276 (index 69/122) [pipeline.py: 473] +05/25 08:31:34 INFO: [Worker 0] Loaded 1 episodes for house 3276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:31:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:31:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3276_ceiling.xml [task_sampler.py: 797] +05/25 08:31:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3276, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:31:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:31:39 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 08:31:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:31:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:31:39 INFO: [Worker 0] Sampled task 'Pick up the textured black yellow screwdriver' [task_sampler.py: 1136] +05/25 08:31:39 INFO: [Worker 0] Worker 0 house 3276 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:31:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:31:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:31:59 INFO: [Worker 0] Worker 0 house 3276 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_5 completed with success=True [pipeline.py: 1114] +05/25 08:32:03 INFO: [Worker 0] Batching and saving trajectory data for house_3276: 1 episodes [pipeline.py: 233] +05/25 08:32:03 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 284] +05/25 08:32:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:32:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3276 [save_utils.py: 703] +05/25 08:32:06 INFO: [Worker 0] Successfully saved trajectory data for house_3276 in 2.66s (batch: 2.61s, save: 0.05s) [pipeline.py: 280] +05/25 08:32:07 WARNING: [Worker 0] No trajectory data to save for house_3276 [pipeline.py: 229] +05/25 08:32:07 INFO: [Worker 0] Worker 0 completed house 3276: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:32:07 INFO: [Worker 0] Worker 0 starting house 3316 (index 70/122) [pipeline.py: 473] +05/25 08:32:07 INFO: [Worker 0] Loaded 1 episodes for house 3316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:32:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:32:08 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:32:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3316_ceiling.xml [task_sampler.py: 797] +05/25 08:32:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3316, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:32:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:32:10 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 08:32:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:32:11 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife with blue bolster' [task_sampler.py: 1136] +05/25 08:32:11 INFO: [Worker 0] Worker 0 house 3316 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:32:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:32:11 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene [object_manager.py: 1238] +05/25 08:32:37 INFO: [Worker 0] Worker 0 house 3316 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:32:41 INFO: [Worker 0] Batching and saving trajectory data for house_3316: 1 episodes [pipeline.py: 233] +05/25 08:32:41 INFO: [Worker 0] Preparing episode data: 95 timesteps [save_utils.py: 284] +05/25 08:32:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:32:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3316 [save_utils.py: 703] +05/25 08:32:44 INFO: [Worker 0] Successfully saved trajectory data for house_3316 in 2.58s (batch: 2.53s, save: 0.05s) [pipeline.py: 280] +05/25 08:32:44 WARNING: [Worker 0] No trajectory data to save for house_3316 [pipeline.py: 229] +05/25 08:32:44 INFO: [Worker 0] Worker 0 completed house 3316: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:32:44 INFO: [Worker 0] Worker 0 starting house 3379 (index 71/122) [pipeline.py: 473] +05/25 08:32:44 INFO: [Worker 0] Loaded 1 episodes for house 3379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:32:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:32:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3379_ceiling.xml [task_sampler.py: 797] +05/25 08:32:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3379, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:32:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:32:52 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 08:32:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:32:52 INFO: [Worker 0] Sampled task 'Pick up the rusty metal rod' [task_sampler.py: 1136] +05/25 08:32:52 INFO: [Worker 0] Worker 0 house 3379 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:32:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:32:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:33:22 INFO: [Worker 0] Worker 0 house 3379 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_3 completed with success=True [pipeline.py: 1114] +05/25 08:33:26 INFO: [Worker 0] Batching and saving trajectory data for house_3379: 1 episodes [pipeline.py: 233] +05/25 08:33:26 INFO: [Worker 0] Preparing episode data: 103 timesteps [save_utils.py: 284] +05/25 08:33:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:33:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3379 [save_utils.py: 703] +05/25 08:33:28 INFO: [Worker 0] Successfully saved trajectory data for house_3379 in 2.44s (batch: 2.40s, save: 0.05s) [pipeline.py: 280] +05/25 08:33:29 WARNING: [Worker 0] No trajectory data to save for house_3379 [pipeline.py: 229] +05/25 08:33:29 INFO: [Worker 0] Worker 0 completed house 3379: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:33:29 INFO: [Worker 0] Worker 0 starting house 3423 (index 72/122) [pipeline.py: 473] +05/25 08:33:29 INFO: [Worker 0] Loaded 1 episodes for house 3423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:33:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:33:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3423_ceiling.xml [task_sampler.py: 797] +05/25 08:33:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3423, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:33:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:33:33 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 08:33:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:33:33 INFO: [Worker 0] Sampled task 'Pick up the packaged chocolate cake with strawberries' [task_sampler.py: 1136] +05/25 08:33:33 INFO: [Worker 0] Worker 0 house 3423 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:33:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:33:34 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/25 08:33:34 WARNING: [Worker 0] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene [object_manager.py: 1238] +05/25 08:33:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:35:58 INFO: [Worker 0] Worker 0 house 3423 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:36:02 INFO: [Worker 0] Batching and saving trajectory data for house_3423: 1 episodes [pipeline.py: 233] +05/25 08:36:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:36:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3423 [save_utils.py: 703] +05/25 08:36:05 INFO: [Worker 0] Successfully saved trajectory data for house_3423 in 3.02s (batch: 2.89s, save: 0.12s) [pipeline.py: 280] +05/25 08:36:06 WARNING: [Worker 0] No trajectory data to save for house_3423 [pipeline.py: 229] +05/25 08:36:06 INFO: [Worker 0] Worker 0 completed house 3423: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:36:06 INFO: [Worker 0] Worker 0 starting house 3467 (index 73/122) [pipeline.py: 473] +05/25 08:36:06 INFO: [Worker 0] Loaded 1 episodes for house 3467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:36:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:36:09 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:36:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3467_ceiling.xml [task_sampler.py: 797] +05/25 08:36:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3467, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:36:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:36:15 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 08:36:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:36:15 INFO: [Worker 0] Sampled task 'Pick up the purple visor' [task_sampler.py: 1136] +05/25 08:36:15 INFO: [Worker 0] Worker 0 house 3467 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:36:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:36:16 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/25 08:38:56 INFO: [Worker 0] Worker 0 house 3467 episode 0 object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 08:38:59 INFO: [Worker 0] Batching and saving trajectory data for house_3467: 1 episodes [pipeline.py: 233] +05/25 08:39:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:39:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:39:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3467 [save_utils.py: 703] +05/25 08:39:02 INFO: [Worker 0] Successfully saved trajectory data for house_3467 in 2.91s (batch: 2.77s, save: 0.14s) [pipeline.py: 280] +05/25 08:39:03 WARNING: [Worker 0] No trajectory data to save for house_3467 [pipeline.py: 229] +05/25 08:39:03 INFO: [Worker 0] Worker 0 completed house 3467: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:39:03 INFO: [Worker 0] Worker 0 starting house 3501 (index 74/122) [pipeline.py: 473] +05/25 08:39:03 INFO: [Worker 0] Loaded 1 episodes for house 3501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:39:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:39:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3501_ceiling.xml [task_sampler.py: 797] +05/25 08:39:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3501, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:39:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:39:06 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 08:39:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:39:06 INFO: [Worker 0] Sampled task 'Pick up the rusty copper bullet cartridge with tip' [task_sampler.py: 1136] +05/25 08:39:06 INFO: [Worker 0] Worker 0 house 3501 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:39:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:40:55 INFO: [Worker 0] Worker 0 house 3501 episode 0 object objabulletcartridge_828758a9cb5043e09fc6cbc857ae0c91_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:40:59 INFO: [Worker 0] Batching and saving trajectory data for house_3501: 1 episodes [pipeline.py: 233] +05/25 08:40:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:41:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:41:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3501 [save_utils.py: 703] +05/25 08:41:02 INFO: [Worker 0] Successfully saved trajectory data for house_3501 in 2.80s (batch: 2.69s, save: 0.11s) [pipeline.py: 280] +05/25 08:41:02 WARNING: [Worker 0] No trajectory data to save for house_3501 [pipeline.py: 229] +05/25 08:41:02 INFO: [Worker 0] Worker 0 completed house 3501: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:41:02 INFO: [Worker 0] Worker 0 starting house 3531 (index 75/122) [pipeline.py: 473] +05/25 08:41:02 INFO: [Worker 0] Loaded 1 episodes for house 3531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:41:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:41:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3531_ceiling.xml [task_sampler.py: 797] +05/25 08:41:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3531, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:41:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:41:05 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/25 08:41:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:41:05 INFO: [Worker 0] Sampled task 'Pick up the blue birthday card with animals' [task_sampler.py: 1136] +05/25 08:41:05 INFO: [Worker 0] Worker 0 house 3531 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:41:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:41:05 WARNING: [Worker 0] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 in scene [object_manager.py: 1238] +05/25 08:41:05 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_3 in scene [object_manager.py: 1238] +05/25 08:42:40 INFO: [Worker 0] Worker 0 house 3531 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 08:42:44 INFO: [Worker 0] Batching and saving trajectory data for house_3531: 1 episodes [pipeline.py: 233] +05/25 08:42:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:42:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3531 [save_utils.py: 703] +05/25 08:42:46 INFO: [Worker 0] Successfully saved trajectory data for house_3531 in 2.64s (batch: 2.53s, save: 0.11s) [pipeline.py: 280] +05/25 08:42:47 WARNING: [Worker 0] No trajectory data to save for house_3531 [pipeline.py: 229] +05/25 08:42:47 INFO: [Worker 0] Worker 0 completed house 3531: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:42:47 INFO: [Worker 0] Worker 0 starting house 3576 (index 76/122) [pipeline.py: 473] +05/25 08:42:47 INFO: [Worker 0] Loaded 1 episodes for house 3576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:42:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:42:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3576_ceiling.xml [task_sampler.py: 797] +05/25 08:42:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3576, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:42:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:42:56 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/25 08:42:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:42:56 INFO: [Worker 0] Sampled task 'Pick up the compact metallic guitar effects pedal' [task_sampler.py: 1136] +05/25 08:42:56 INFO: [Worker 0] Worker 0 house 3576 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:42:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:42:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:45:23 INFO: [Worker 0] Worker 0 house 3576 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 08:45:26 INFO: [Worker 0] Batching and saving trajectory data for house_3576: 1 episodes [pipeline.py: 233] +05/25 08:45:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:45:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:45:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3576 [save_utils.py: 703] +05/25 08:45:29 INFO: [Worker 0] Successfully saved trajectory data for house_3576 in 2.82s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/25 08:45:30 WARNING: [Worker 0] No trajectory data to save for house_3576 [pipeline.py: 229] +05/25 08:45:30 INFO: [Worker 0] Worker 0 completed house 3576: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:45:30 INFO: [Worker 0] Worker 0 starting house 3613 (index 77/122) [pipeline.py: 473] +05/25 08:45:30 INFO: [Worker 0] Loaded 1 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:45:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:45:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/25 08:45:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:45:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:45:35 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 08:45:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:45:35 INFO: [Worker 0] Sampled task 'Pick up the necklace' [task_sampler.py: 1136] +05/25 08:45:35 INFO: [Worker 0] Worker 0 house 3613 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:45:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:45:52 INFO: [Worker 0] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 08:45:56 INFO: [Worker 0] Batching and saving trajectory data for house_3613: 1 episodes [pipeline.py: 233] +05/25 08:45:56 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/25 08:45:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:45:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3613 [save_utils.py: 703] +05/25 08:45:58 INFO: [Worker 0] Successfully saved trajectory data for house_3613 in 2.47s (batch: 2.43s, save: 0.04s) [pipeline.py: 280] +05/25 08:45:59 WARNING: [Worker 0] No trajectory data to save for house_3613 [pipeline.py: 229] +05/25 08:45:59 INFO: [Worker 0] Worker 0 completed house 3613: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:45:59 INFO: [Worker 0] Worker 0 starting house 3647 (index 78/122) [pipeline.py: 473] +05/25 08:45:59 INFO: [Worker 0] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:45:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:46:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3647_ceiling.xml [task_sampler.py: 797] +05/25 08:46:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3647, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:46:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:46:08 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 08:46:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:46:08 INFO: [Worker 0] Sampled task 'Pick up the sharp scissors with red handles' [task_sampler.py: 1136] +05/25 08:46:08 INFO: [Worker 0] Worker 0 house 3647 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:46:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:46:08 WARNING: [Worker 0] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene [object_manager.py: 1238] +05/25 08:46:08 WARNING: [Worker 0] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene [object_manager.py: 1238] +05/25 08:46:08 WARNING: [Worker 0] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene [object_manager.py: 1238] +05/25 08:46:38 INFO: [Worker 0] Worker 0 house 3647 episode 0 object objascissors_e0304800688647d488200a993f1ff930_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 08:46:41 INFO: [Worker 0] Batching and saving trajectory data for house_3647: 1 episodes [pipeline.py: 233] +05/25 08:46:41 INFO: [Worker 0] Preparing episode data: 104 timesteps [save_utils.py: 284] +05/25 08:46:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:46:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3647 [save_utils.py: 703] +05/25 08:46:44 INFO: [Worker 0] Successfully saved trajectory data for house_3647 in 2.41s (batch: 2.35s, save: 0.06s) [pipeline.py: 280] +05/25 08:46:44 WARNING: [Worker 0] No trajectory data to save for house_3647 [pipeline.py: 229] +05/25 08:46:44 INFO: [Worker 0] Worker 0 completed house 3647: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:46:44 INFO: [Worker 0] Worker 0 starting house 3687 (index 79/122) [pipeline.py: 473] +05/25 08:46:44 INFO: [Worker 0] Loaded 1 episodes for house 3687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:46:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:46:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3687_ceiling.xml [task_sampler.py: 797] +05/25 08:46:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3687, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:46:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:46:49 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 08:46:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:46:49 INFO: [Worker 0] Sampled task 'Pick up the hand file with brown handle' [task_sampler.py: 1136] +05/25 08:46:49 INFO: [Worker 0] Worker 0 house 3687 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:46:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:46:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:48:47 INFO: [Worker 0] Worker 0 house 3687 episode 0 object objahandfile_c9f3e71edf624d05a1ac0b2083e6b886_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:48:51 INFO: [Worker 0] Batching and saving trajectory data for house_3687: 1 episodes [pipeline.py: 233] +05/25 08:48:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:48:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:48:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3687 [save_utils.py: 703] +05/25 08:48:54 INFO: [Worker 0] Successfully saved trajectory data for house_3687 in 2.90s (batch: 2.81s, save: 0.10s) [pipeline.py: 280] +05/25 08:48:55 WARNING: [Worker 0] No trajectory data to save for house_3687 [pipeline.py: 229] +05/25 08:48:55 INFO: [Worker 0] Worker 0 completed house 3687: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:48:55 INFO: [Worker 0] Worker 0 starting house 3725 (index 80/122) [pipeline.py: 473] +05/25 08:48:55 INFO: [Worker 0] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:48:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:48:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3725_ceiling.xml [task_sampler.py: 797] +05/25 08:48:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3725, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:48:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:48:59 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 08:48:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:48:59 INFO: [Worker 0] Sampled task 'Pick up the compact red and gray blaster' [task_sampler.py: 1136] +05/25 08:48:59 INFO: [Worker 0] Worker 0 house 3725 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:48:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:49:18 INFO: [Worker 0] Worker 0 house 3725 episode 0 object objatoyblaster_b72ce13805f24d729e6cbd54789a93a1_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 08:49:22 INFO: [Worker 0] Batching and saving trajectory data for house_3725: 1 episodes [pipeline.py: 233] +05/25 08:49:22 INFO: [Worker 0] Preparing episode data: 74 timesteps [save_utils.py: 284] +05/25 08:49:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:49:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3725 [save_utils.py: 703] +05/25 08:49:24 INFO: [Worker 0] Successfully saved trajectory data for house_3725 in 2.41s (batch: 2.37s, save: 0.04s) [pipeline.py: 280] +05/25 08:49:25 WARNING: [Worker 0] No trajectory data to save for house_3725 [pipeline.py: 229] +05/25 08:49:25 INFO: [Worker 0] Worker 0 completed house 3725: 1/1 successful episodes [pipeline.py: 1243] +05/25 08:49:25 INFO: [Worker 0] Worker 0 starting house 3769 (index 81/122) [pipeline.py: 473] +05/25 08:49:25 INFO: [Worker 0] Loaded 1 episodes for house 3769 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:49:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:49:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3769_ceiling.xml [task_sampler.py: 797] +05/25 08:49:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3769, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:49:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:49:34 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/25 08:49:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:49:34 INFO: [Worker 0] Sampled task 'Pick up the vintage metal stirrup' [task_sampler.py: 1136] +05/25 08:49:34 INFO: [Worker 0] Worker 0 house 3769 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:49:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:49:34 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene [object_manager.py: 1238] +05/25 08:49:34 WARNING: [Worker 0] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene [object_manager.py: 1238] +05/25 08:49:34 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/25 08:51:44 INFO: [Worker 0] Worker 0 house 3769 episode 0 object objastirrup_8732e5243857451ba4a3447c1eec0771_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 08:51:48 INFO: [Worker 0] Batching and saving trajectory data for house_3769: 1 episodes [pipeline.py: 233] +05/25 08:51:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:51:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:51:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3769 [save_utils.py: 703] +05/25 08:51:51 INFO: [Worker 0] Successfully saved trajectory data for house_3769 in 3.09s (batch: 2.98s, save: 0.12s) [pipeline.py: 280] +05/25 08:51:51 WARNING: [Worker 0] No trajectory data to save for house_3769 [pipeline.py: 229] +05/25 08:51:51 INFO: [Worker 0] Worker 0 completed house 3769: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:51:51 INFO: [Worker 0] Worker 0 starting house 3818 (index 82/122) [pipeline.py: 473] +05/25 08:51:51 INFO: [Worker 0] Loaded 1 episodes for house 3818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:51:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:51:53 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 08:51:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3818_ceiling.xml [task_sampler.py: 797] +05/25 08:51:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3818, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:51:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:51:56 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 08:51:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:51:57 INFO: [Worker 0] Sampled task 'Pick up the dark pot' [task_sampler.py: 1136] +05/25 08:51:57 INFO: [Worker 0] Worker 0 house 3818 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:51:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:51:57 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 08:51:57 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene [object_manager.py: 1238] +05/25 08:51:57 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene [object_manager.py: 1238] +05/25 08:51:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:54:04 INFO: [Worker 0] Worker 0 house 3818 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:54:08 INFO: [Worker 0] Batching and saving trajectory data for house_3818: 1 episodes [pipeline.py: 233] +05/25 08:54:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:54:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:54:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3818 [save_utils.py: 703] +05/25 08:54:11 INFO: [Worker 0] Successfully saved trajectory data for house_3818 in 2.78s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/25 08:54:11 WARNING: [Worker 0] No trajectory data to save for house_3818 [pipeline.py: 229] +05/25 08:54:11 INFO: [Worker 0] Worker 0 completed house 3818: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:54:11 INFO: [Worker 0] Worker 0 starting house 3826 (index 83/122) [pipeline.py: 473] +05/25 08:54:11 INFO: [Worker 0] Loaded 2 episodes for house 3826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:54:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:54:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3826_ceiling.xml [task_sampler.py: 797] +05/25 08:54:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3826, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:54:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:54:20 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 08:54:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:54:20 INFO: [Worker 0] Sampled task 'Pick up the red jewelry box with mirror' [task_sampler.py: 1136] +05/25 08:54:20 INFO: [Worker 0] Worker 0 house 3826 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 08:54:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:56:52 INFO: [Worker 0] Worker 0 house 3826 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 08:56:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:57:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3826_ceiling.xml [task_sampler.py: 797] +05/25 08:57:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3826, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:57:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:57:05 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 08:57:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:57:05 INFO: [Worker 0] Sampled task 'Pick up the rusty circular metal emblem' [task_sampler.py: 1136] +05/25 08:57:05 INFO: [Worker 0] Worker 0 house 3826 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 08:57:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:57:22 INFO: [Worker 0] Worker 0 house 3826 episode 1 object objaemblem_3e1c1466187846d9bb64c15f5c6f8396_1_0_9 completed with success=True [pipeline.py: 1114] +05/25 08:57:26 INFO: [Worker 0] Batching and saving trajectory data for house_3826: 2 episodes [pipeline.py: 233] +05/25 08:57:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:57:29 INFO: [Worker 0] Preparing episode data: 42 timesteps [save_utils.py: 284] +05/25 08:57:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:57:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:57:31 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3826 [save_utils.py: 703] +05/25 08:57:31 INFO: [Worker 0] Successfully saved trajectory data for house_3826 in 5.23s (batch: 5.09s, save: 0.13s) [pipeline.py: 280] +05/25 08:57:32 WARNING: [Worker 0] No trajectory data to save for house_3826 [pipeline.py: 229] +05/25 08:57:32 INFO: [Worker 0] Worker 0 completed house 3826: 1/2 successful episodes [pipeline.py: 1243] +05/25 08:57:32 INFO: [Worker 0] Worker 0 starting house 3851 (index 84/122) [pipeline.py: 473] +05/25 08:57:32 INFO: [Worker 0] Loaded 1 episodes for house 3851 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:57:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:57:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3851_ceiling.xml [task_sampler.py: 797] +05/25 08:57:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3851, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:57:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:57:37 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 08:57:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:57:37 INFO: [Worker 0] Sampled task 'Pick up the gray id holder with yellow button' [task_sampler.py: 1136] +05/25 08:57:37 INFO: [Worker 0] Worker 0 house 3851 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:57:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:57:37 WARNING: [Worker 0] Could not find object objadecorativetext_ad485cfd217c41ab8c8ddef5ea2087b2_1_0_6 in scene [object_manager.py: 1238] +05/25 08:57:37 WARNING: [Worker 0] Could not find object alarmclock_56a0e72f08658c16519ab66e688eb292_1_0_6 in scene [object_manager.py: 1238] +05/25 08:57:37 WARNING: [Worker 0] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_7 in scene [object_manager.py: 1238] +05/25 08:57:37 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene [object_manager.py: 1238] +05/25 08:57:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 08:59:40 INFO: [Worker 0] Worker 0 house 3851 episode 0 object objaidholder_588bfc656c634b298db26d81c51fff93_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 08:59:44 INFO: [Worker 0] Batching and saving trajectory data for house_3851: 1 episodes [pipeline.py: 233] +05/25 08:59:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 08:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 08:59:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3851 [save_utils.py: 703] +05/25 08:59:47 INFO: [Worker 0] Successfully saved trajectory data for house_3851 in 2.99s (batch: 2.86s, save: 0.13s) [pipeline.py: 280] +05/25 08:59:48 WARNING: [Worker 0] No trajectory data to save for house_3851 [pipeline.py: 229] +05/25 08:59:48 INFO: [Worker 0] Worker 0 completed house 3851: 0/1 successful episodes [pipeline.py: 1243] +05/25 08:59:48 INFO: [Worker 0] Worker 0 starting house 3880 (index 85/122) [pipeline.py: 473] +05/25 08:59:48 INFO: [Worker 0] Loaded 1 episodes for house 3880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 08:59:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 08:59:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3880_ceiling.xml [task_sampler.py: 797] +05/25 08:59:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3880, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 08:59:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 08:59:55 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/25 08:59:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 08:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 08:59:55 INFO: [Worker 0] Sampled task 'Pick up the ceramic bowl with handles' [task_sampler.py: 1136] +05/25 08:59:55 INFO: [Worker 0] Worker 0 house 3880 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 08:59:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 08:59:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:02:08 INFO: [Worker 0] Worker 0 house 3880 episode 0 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:02:11 INFO: [Worker 0] Batching and saving trajectory data for house_3880: 1 episodes [pipeline.py: 233] +05/25 09:02:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:02:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3880 [save_utils.py: 703] +05/25 09:02:14 INFO: [Worker 0] Successfully saved trajectory data for house_3880 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/25 09:02:15 WARNING: [Worker 0] No trajectory data to save for house_3880 [pipeline.py: 229] +05/25 09:02:15 INFO: [Worker 0] Worker 0 completed house 3880: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:02:15 INFO: [Worker 0] Worker 0 starting house 3902 (index 86/122) [pipeline.py: 473] +05/25 09:02:15 INFO: [Worker 0] Loaded 1 episodes for house 3902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:02:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:02:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3902_ceiling.xml [task_sampler.py: 797] +05/25 09:02:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3902, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:02:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:02:21 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/25 09:02:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:02:21 INFO: [Worker 0] Sampled task 'Pick up the astrolabe' [task_sampler.py: 1136] +05/25 09:02:21 INFO: [Worker 0] Worker 0 house 3902 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:02:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:02:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:04:26 INFO: [Worker 0] Worker 0 house 3902 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 09:04:30 INFO: [Worker 0] Batching and saving trajectory data for house_3902: 1 episodes [pipeline.py: 233] +05/25 09:04:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:04:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:04:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3902 [save_utils.py: 703] +05/25 09:04:33 INFO: [Worker 0] Successfully saved trajectory data for house_3902 in 2.97s (batch: 2.85s, save: 0.12s) [pipeline.py: 280] +05/25 09:04:33 WARNING: [Worker 0] No trajectory data to save for house_3902 [pipeline.py: 229] +05/25 09:04:33 INFO: [Worker 0] Worker 0 completed house 3902: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:04:33 INFO: [Worker 0] Worker 0 starting house 3928 (index 87/122) [pipeline.py: 473] +05/25 09:04:33 INFO: [Worker 0] Loaded 1 episodes for house 3928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:04:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:04:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3928_ceiling.xml [task_sampler.py: 797] +05/25 09:04:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3928, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:04:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:04:37 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 09:04:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:04:37 INFO: [Worker 0] Sampled task 'Pick up the camera' [task_sampler.py: 1136] +05/25 09:04:37 INFO: [Worker 0] Worker 0 house 3928 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:04:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:04:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:06:32 INFO: [Worker 0] Worker 0 house 3928 episode 0 object objafilmcamera_b18e3c3a8d104a048d72737e02f7a490_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:06:36 INFO: [Worker 0] Batching and saving trajectory data for house_3928: 1 episodes [pipeline.py: 233] +05/25 09:06:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:06:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:06:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3928 [save_utils.py: 703] +05/25 09:06:39 INFO: [Worker 0] Successfully saved trajectory data for house_3928 in 2.79s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/25 09:06:39 WARNING: [Worker 0] No trajectory data to save for house_3928 [pipeline.py: 229] +05/25 09:06:39 INFO: [Worker 0] Worker 0 completed house 3928: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:06:39 INFO: [Worker 0] Worker 0 starting house 3971 (index 88/122) [pipeline.py: 473] +05/25 09:06:39 INFO: [Worker 0] Loaded 1 episodes for house 3971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:06:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:06:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3971_ceiling.xml [task_sampler.py: 797] +05/25 09:06:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3971, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:06:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:06:46 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 09:06:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:06:46 INFO: [Worker 0] Sampled task 'Pick up the gray camcorder with handle' [task_sampler.py: 1136] +05/25 09:06:46 INFO: [Worker 0] Worker 0 house 3971 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:06:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:09:02 INFO: [Worker 0] Worker 0 house 3971 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:09:05 INFO: [Worker 0] Batching and saving trajectory data for house_3971: 1 episodes [pipeline.py: 233] +05/25 09:09:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:09:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3971 [save_utils.py: 703] +05/25 09:09:08 INFO: [Worker 0] Successfully saved trajectory data for house_3971 in 2.75s (batch: 2.65s, save: 0.10s) [pipeline.py: 280] +05/25 09:09:09 WARNING: [Worker 0] No trajectory data to save for house_3971 [pipeline.py: 229] +05/25 09:09:09 INFO: [Worker 0] Worker 0 completed house 3971: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:09:09 INFO: [Worker 0] Worker 0 starting house 4004 (index 89/122) [pipeline.py: 473] +05/25 09:09:09 INFO: [Worker 0] Loaded 1 episodes for house 4004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:09:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:09:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4004_ceiling.xml [task_sampler.py: 797] +05/25 09:09:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4004, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:09:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:09:15 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/25 09:09:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:09:15 INFO: [Worker 0] Sampled task 'Pick up the white stand with red flag' [task_sampler.py: 1136] +05/25 09:09:15 INFO: [Worker 0] Worker 0 house 4004 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:09:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:09:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:11:22 INFO: [Worker 0] Worker 0 house 4004 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 09:11:25 INFO: [Worker 0] Batching and saving trajectory data for house_4004: 1 episodes [pipeline.py: 233] +05/25 09:11:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:11:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:11:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4004 [save_utils.py: 703] +05/25 09:11:28 INFO: [Worker 0] Successfully saved trajectory data for house_4004 in 2.93s (batch: 2.82s, save: 0.11s) [pipeline.py: 280] +05/25 09:11:29 WARNING: [Worker 0] No trajectory data to save for house_4004 [pipeline.py: 229] +05/25 09:11:29 INFO: [Worker 0] Worker 0 completed house 4004: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:11:29 INFO: [Worker 0] Worker 0 starting house 4041 (index 90/122) [pipeline.py: 473] +05/25 09:11:29 INFO: [Worker 0] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:11:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:11:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4041_ceiling.xml [task_sampler.py: 797] +05/25 09:11:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4041, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:11:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:11:31 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/25 09:11:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:11:32 INFO: [Worker 0] Sampled task 'Pick up the round brown bread' [task_sampler.py: 1136] +05/25 09:11:32 INFO: [Worker 0] Worker 0 house 4041 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:11:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:11:32 WARNING: [Worker 0] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene [object_manager.py: 1238] +05/25 09:11:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:13:15 INFO: [Worker 0] Worker 0 house 4041 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:13:19 INFO: [Worker 0] Batching and saving trajectory data for house_4041: 1 episodes [pipeline.py: 233] +05/25 09:13:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:13:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:13:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4041 [save_utils.py: 703] +05/25 09:13:22 INFO: [Worker 0] Successfully saved trajectory data for house_4041 in 2.75s (batch: 2.62s, save: 0.13s) [pipeline.py: 280] +05/25 09:13:22 WARNING: [Worker 0] No trajectory data to save for house_4041 [pipeline.py: 229] +05/25 09:13:22 INFO: [Worker 0] Worker 0 completed house 4041: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:13:22 INFO: [Worker 0] Worker 0 starting house 4106 (index 91/122) [pipeline.py: 473] +05/25 09:13:22 INFO: [Worker 0] Loaded 1 episodes for house 4106 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:13:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:13:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4106_ceiling.xml [task_sampler.py: 797] +05/25 09:13:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4106, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:13:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:13:27 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 09:13:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:13:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:13:27 INFO: [Worker 0] Sampled task 'Pick up the curved tube' [task_sampler.py: 1136] +05/25 09:13:27 INFO: [Worker 0] Worker 0 house 4106 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:13:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:13:27 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene [object_manager.py: 1238] +05/25 09:13:27 WARNING: [Worker 0] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_5 in scene [object_manager.py: 1238] +05/25 09:13:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:13:49 INFO: [Worker 0] Worker 0 house 4106 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 09:13:52 INFO: [Worker 0] Batching and saving trajectory data for house_4106: 1 episodes [pipeline.py: 233] +05/25 09:13:52 INFO: [Worker 0] Preparing episode data: 79 timesteps [save_utils.py: 284] +05/25 09:13:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:13:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4106 [save_utils.py: 703] +05/25 09:13:55 INFO: [Worker 0] Successfully saved trajectory data for house_4106 in 2.56s (batch: 2.51s, save: 0.04s) [pipeline.py: 280] +05/25 09:13:56 WARNING: [Worker 0] No trajectory data to save for house_4106 [pipeline.py: 229] +05/25 09:13:56 INFO: [Worker 0] Worker 0 completed house 4106: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:13:56 INFO: [Worker 0] Worker 0 starting house 4158 (index 92/122) [pipeline.py: 473] +05/25 09:13:56 INFO: [Worker 0] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:13:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:14:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4158_ceiling.xml [task_sampler.py: 797] +05/25 09:14:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4158, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:14:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:14:03 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/25 09:14:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:14:04 INFO: [Worker 0] Sampled task 'Pick up the jagged white marble piece with veins' [task_sampler.py: 1136] +05/25 09:14:04 INFO: [Worker 0] Worker 0 house 4158 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:14:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:14:04 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene [object_manager.py: 1238] +05/25 09:14:04 WARNING: [Worker 0] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene [object_manager.py: 1238] +05/25 09:14:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:14:16 INFO: [Worker 0] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 09:14:20 INFO: [Worker 0] Batching and saving trajectory data for house_4158: 1 episodes [pipeline.py: 233] +05/25 09:14:20 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/25 09:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:14:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4158 [save_utils.py: 703] +05/25 09:14:22 INFO: [Worker 0] Successfully saved trajectory data for house_4158 in 2.26s (batch: 2.23s, save: 0.03s) [pipeline.py: 280] +05/25 09:14:22 WARNING: [Worker 0] No trajectory data to save for house_4158 [pipeline.py: 229] +05/25 09:14:22 INFO: [Worker 0] Worker 0 completed house 4158: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:14:22 INFO: [Worker 0] Worker 0 starting house 4205 (index 93/122) [pipeline.py: 473] +05/25 09:14:22 INFO: [Worker 0] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:14:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:14:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4205_ceiling.xml [task_sampler.py: 797] +05/25 09:14:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4205, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:14:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:14:27 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/25 09:14:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:14:27 INFO: [Worker 0] Sampled task 'Pick up the blue floral ceramic teacup with handle' [task_sampler.py: 1136] +05/25 09:14:27 INFO: [Worker 0] Worker 0 house 4205 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:14:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:14:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:14:43 INFO: [Worker 0] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 09:14:46 INFO: [Worker 0] Batching and saving trajectory data for house_4205: 1 episodes [pipeline.py: 233] +05/25 09:14:46 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/25 09:14:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:14:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4205 [save_utils.py: 703] +05/25 09:14:49 INFO: [Worker 0] Successfully saved trajectory data for house_4205 in 2.40s (batch: 2.36s, save: 0.04s) [pipeline.py: 280] +05/25 09:14:49 WARNING: [Worker 0] No trajectory data to save for house_4205 [pipeline.py: 229] +05/25 09:14:49 INFO: [Worker 0] Worker 0 completed house 4205: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:14:49 INFO: [Worker 0] Worker 0 starting house 4270 (index 94/122) [pipeline.py: 473] +05/25 09:14:49 INFO: [Worker 0] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:14:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:14:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4270_ceiling.xml [task_sampler.py: 797] +05/25 09:14:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4270, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:14:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:14:54 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 09:14:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:14:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:14:54 INFO: [Worker 0] Sampled task 'Pick up the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/25 09:14:54 INFO: [Worker 0] Worker 0 house 4270 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:14:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:14:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:15:23 INFO: [Worker 0] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 09:15:26 INFO: [Worker 0] Batching and saving trajectory data for house_4270: 1 episodes [pipeline.py: 233] +05/25 09:15:26 INFO: [Worker 0] Preparing episode data: 111 timesteps [save_utils.py: 284] +05/25 09:15:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:15:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4270 [save_utils.py: 703] +05/25 09:15:29 INFO: [Worker 0] Successfully saved trajectory data for house_4270 in 2.54s (batch: 2.48s, save: 0.06s) [pipeline.py: 280] +05/25 09:15:30 WARNING: [Worker 0] No trajectory data to save for house_4270 [pipeline.py: 229] +05/25 09:15:30 INFO: [Worker 0] Worker 0 completed house 4270: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:15:30 INFO: [Worker 0] Worker 0 starting house 4315 (index 95/122) [pipeline.py: 473] +05/25 09:15:30 INFO: [Worker 0] Loaded 1 episodes for house 4315 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:15:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:15:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4315_ceiling.xml [task_sampler.py: 797] +05/25 09:15:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4315, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:15:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:15:34 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 09:15:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:15:34 INFO: [Worker 0] Sampled task 'Pick up the swiss cheese' [task_sampler.py: 1136] +05/25 09:15:34 INFO: [Worker 0] Worker 0 house 4315 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:15:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:15:34 WARNING: [Worker 0] Could not find object objamosaictile_dbcfc351ce14458bae5d475a7727ac54_1_0_7 in scene [object_manager.py: 1238] +05/25 09:15:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:16:11 INFO: [Worker 0] Worker 0 house 4315 episode 0 object objacheese_1e260037ef3a403ea4da2f78a643dcb6_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 09:16:15 INFO: [Worker 0] Batching and saving trajectory data for house_4315: 1 episodes [pipeline.py: 233] +05/25 09:16:15 INFO: [Worker 0] Preparing episode data: 124 timesteps [save_utils.py: 284] +05/25 09:16:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:16:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4315 [save_utils.py: 703] +05/25 09:16:17 INFO: [Worker 0] Successfully saved trajectory data for house_4315 in 2.45s (batch: 2.41s, save: 0.05s) [pipeline.py: 280] +05/25 09:16:18 WARNING: [Worker 0] No trajectory data to save for house_4315 [pipeline.py: 229] +05/25 09:16:18 INFO: [Worker 0] Worker 0 completed house 4315: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:16:18 INFO: [Worker 0] Worker 0 starting house 4372 (index 96/122) [pipeline.py: 473] +05/25 09:16:18 INFO: [Worker 0] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:16:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:16:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4372_ceiling.xml [task_sampler.py: 797] +05/25 09:16:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4372, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:16:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:16:23 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 09:16:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:16:23 INFO: [Worker 0] Sampled task 'Pick up the white green biofreeze pain relief tube' [task_sampler.py: 1136] +05/25 09:16:23 INFO: [Worker 0] Worker 0 house 4372 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:16:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:16:24 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene [object_manager.py: 1238] +05/25 09:16:24 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 09:18:24 INFO: [Worker 0] Worker 0 house 4372 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 09:18:28 INFO: [Worker 0] Batching and saving trajectory data for house_4372: 1 episodes [pipeline.py: 233] +05/25 09:18:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:18:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4372 [save_utils.py: 703] +05/25 09:18:31 INFO: [Worker 0] Successfully saved trajectory data for house_4372 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/25 09:18:31 WARNING: [Worker 0] No trajectory data to save for house_4372 [pipeline.py: 229] +05/25 09:18:31 INFO: [Worker 0] Worker 0 completed house 4372: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:18:31 INFO: [Worker 0] Worker 0 starting house 4404 (index 97/122) [pipeline.py: 473] +05/25 09:18:31 INFO: [Worker 0] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:18:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:18:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4404_ceiling.xml [task_sampler.py: 797] +05/25 09:18:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4404, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:18:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:18:39 INFO: [Worker 0] randomize_scene: Setting poses for 104 objects [json_eval_task_sampler.py: 686] +05/25 09:18:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:18:39 INFO: [Worker 0] Sampled task 'Pick up the cream daruma' [task_sampler.py: 1136] +05/25 09:18:39 INFO: [Worker 0] Worker 0 house 4404 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:18:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:18:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:20:51 INFO: [Worker 0] Worker 0 house 4404 episode 0 object objadecorativedoll_0db864e5ae514cd78da9d8a60422edf9_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 09:20:54 INFO: [Worker 0] Batching and saving trajectory data for house_4404: 1 episodes [pipeline.py: 233] +05/25 09:20:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:20:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:20:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4404 [save_utils.py: 703] +05/25 09:20:58 INFO: [Worker 0] Successfully saved trajectory data for house_4404 in 2.92s (batch: 2.81s, save: 0.11s) [pipeline.py: 280] +05/25 09:20:58 WARNING: [Worker 0] No trajectory data to save for house_4404 [pipeline.py: 229] +05/25 09:20:58 INFO: [Worker 0] Worker 0 completed house 4404: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:20:58 INFO: [Worker 0] Worker 0 starting house 4460 (index 98/122) [pipeline.py: 473] +05/25 09:20:58 INFO: [Worker 0] Loaded 1 episodes for house 4460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:20:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:21:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4460_ceiling.xml [task_sampler.py: 797] +05/25 09:21:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4460, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:21:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:21:00 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/25 09:21:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:21:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:21:00 INFO: [Worker 0] Sampled task 'Pick up the metallic hinge' [task_sampler.py: 1136] +05/25 09:21:00 INFO: [Worker 0] Worker 0 house 4460 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:21:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:22:37 INFO: [Worker 0] Worker 0 house 4460 episode 0 object objahinge_b94d0e132cdd47589cc382d80c29eff8_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:22:41 INFO: [Worker 0] Batching and saving trajectory data for house_4460: 1 episodes [pipeline.py: 233] +05/25 09:22:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:22:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:22:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4460 [save_utils.py: 703] +05/25 09:22:44 INFO: [Worker 0] Successfully saved trajectory data for house_4460 in 2.90s (batch: 2.80s, save: 0.10s) [pipeline.py: 280] +05/25 09:22:44 WARNING: [Worker 0] No trajectory data to save for house_4460 [pipeline.py: 229] +05/25 09:22:44 INFO: [Worker 0] Worker 0 completed house 4460: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:22:44 INFO: [Worker 0] Worker 0 starting house 4500 (index 99/122) [pipeline.py: 473] +05/25 09:22:44 INFO: [Worker 0] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:22:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:22:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4500_ceiling.xml [task_sampler.py: 797] +05/25 09:22:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4500, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:22:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:22:48 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 09:22:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:22:48 INFO: [Worker 0] Sampled task 'Pick up the hollow gradient gender symbol with cross' [task_sampler.py: 1136] +05/25 09:22:48 INFO: [Worker 0] Worker 0 house 4500 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:22:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:22:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:24:57 INFO: [Worker 0] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:25:01 INFO: [Worker 0] Batching and saving trajectory data for house_4500: 1 episodes [pipeline.py: 233] +05/25 09:25:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:25:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:25:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4500 [save_utils.py: 703] +05/25 09:25:04 INFO: [Worker 0] Successfully saved trajectory data for house_4500 in 2.96s (batch: 2.84s, save: 0.12s) [pipeline.py: 280] +05/25 09:25:04 WARNING: [Worker 0] No trajectory data to save for house_4500 [pipeline.py: 229] +05/25 09:25:04 INFO: [Worker 0] Worker 0 completed house 4500: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:25:04 INFO: [Worker 0] Worker 0 starting house 4552 (index 100/122) [pipeline.py: 473] +05/25 09:25:04 INFO: [Worker 0] Loaded 1 episodes for house 4552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:25:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:25:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4552_ceiling.xml [task_sampler.py: 797] +05/25 09:25:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4552, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:25:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:25:11 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 09:25:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:25:11 INFO: [Worker 0] Sampled task 'Pick up the toy helicopter' [task_sampler.py: 1136] +05/25 09:25:11 INFO: [Worker 0] Worker 0 house 4552 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:25:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:25:27 INFO: [Worker 0] Worker 0 house 4552 episode 0 object objatoyhelicopter_3a766d9cc0484f1993dd8dc658b81181_1_0_8 completed with success=True [pipeline.py: 1114] +05/25 09:25:31 INFO: [Worker 0] Batching and saving trajectory data for house_4552: 1 episodes [pipeline.py: 233] +05/25 09:25:31 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/25 09:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:25:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4552 [save_utils.py: 703] +05/25 09:25:33 INFO: [Worker 0] Successfully saved trajectory data for house_4552 in 2.49s (batch: 2.46s, save: 0.04s) [pipeline.py: 280] +05/25 09:25:34 WARNING: [Worker 0] No trajectory data to save for house_4552 [pipeline.py: 229] +05/25 09:25:34 INFO: [Worker 0] Worker 0 completed house 4552: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:25:34 INFO: [Worker 0] Worker 0 starting house 4581 (index 101/122) [pipeline.py: 473] +05/25 09:25:34 INFO: [Worker 0] Loaded 1 episodes for house 4581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:25:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:25:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4581_ceiling.xml [task_sampler.py: 797] +05/25 09:25:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4581, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:25:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:25:39 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/25 09:25:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:25:39 INFO: [Worker 0] Sampled task 'Pick up the ingot' [task_sampler.py: 1136] +05/25 09:25:39 INFO: [Worker 0] Worker 0 house 4581 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:25:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:27:45 INFO: [Worker 0] Worker 0 house 4581 episode 0 object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 09:27:49 INFO: [Worker 0] Batching and saving trajectory data for house_4581: 1 episodes [pipeline.py: 233] +05/25 09:27:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:27:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:27:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4581 [save_utils.py: 703] +05/25 09:27:52 INFO: [Worker 0] Successfully saved trajectory data for house_4581 in 2.78s (batch: 2.66s, save: 0.12s) [pipeline.py: 280] +05/25 09:27:53 WARNING: [Worker 0] No trajectory data to save for house_4581 [pipeline.py: 229] +05/25 09:27:53 INFO: [Worker 0] Worker 0 completed house 4581: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:27:53 INFO: [Worker 0] Worker 0 starting house 4656 (index 102/122) [pipeline.py: 473] +05/25 09:27:53 INFO: [Worker 0] Loaded 1 episodes for house 4656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:27:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:27:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4656_ceiling.xml [task_sampler.py: 797] +05/25 09:27:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4656, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:27:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:27:56 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 09:27:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:27:56 INFO: [Worker 0] Sampled task 'Pick up the album' [task_sampler.py: 1136] +05/25 09:27:56 INFO: [Worker 0] Worker 0 house 4656 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:27:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:27:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:28:12 INFO: [Worker 0] Worker 0 house 4656 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 09:28:15 INFO: [Worker 0] Batching and saving trajectory data for house_4656: 1 episodes [pipeline.py: 233] +05/25 09:28:16 INFO: [Worker 0] Preparing episode data: 54 timesteps [save_utils.py: 284] +05/25 09:28:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:28:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4656 [save_utils.py: 703] +05/25 09:28:18 INFO: [Worker 0] Successfully saved trajectory data for house_4656 in 2.42s (batch: 2.36s, save: 0.06s) [pipeline.py: 280] +05/25 09:28:19 WARNING: [Worker 0] No trajectory data to save for house_4656 [pipeline.py: 229] +05/25 09:28:19 INFO: [Worker 0] Worker 0 completed house 4656: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:28:19 INFO: [Worker 0] Worker 0 starting house 4721 (index 103/122) [pipeline.py: 473] +05/25 09:28:19 INFO: [Worker 0] Loaded 1 episodes for house 4721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:28:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:28:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4721_ceiling.xml [task_sampler.py: 797] +05/25 09:28:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4721, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:28:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:28:22 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 09:28:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:28:22 INFO: [Worker 0] Sampled task 'Pick up the round black plastic bottle cap' [task_sampler.py: 1136] +05/25 09:28:22 INFO: [Worker 0] Worker 0 house 4721 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:28:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:28:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:30:07 INFO: [Worker 0] Worker 0 house 4721 episode 0 object objabottlecap_d47d2f5bc5fd4af890cec03b9d8613ff_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:30:10 INFO: [Worker 0] Batching and saving trajectory data for house_4721: 1 episodes [pipeline.py: 233] +05/25 09:30:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:30:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4721 [save_utils.py: 703] +05/25 09:30:13 INFO: [Worker 0] Successfully saved trajectory data for house_4721 in 2.58s (batch: 2.46s, save: 0.12s) [pipeline.py: 280] +05/25 09:30:14 WARNING: [Worker 0] No trajectory data to save for house_4721 [pipeline.py: 229] +05/25 09:30:14 INFO: [Worker 0] Worker 0 completed house 4721: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:30:14 INFO: [Worker 0] Worker 0 starting house 4760 (index 104/122) [pipeline.py: 473] +05/25 09:30:14 INFO: [Worker 0] Loaded 1 episodes for house 4760 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:30:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:30:15 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:30:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4760_ceiling.xml [task_sampler.py: 797] +05/25 09:30:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4760, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:30:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:30:17 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/25 09:30:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:30:18 INFO: [Worker 0] Sampled task 'Pick up the metal brooch' [task_sampler.py: 1136] +05/25 09:30:18 INFO: [Worker 0] Worker 0 house 4760 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:30:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:30:18 WARNING: [Worker 0] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_3 in scene [object_manager.py: 1238] +05/25 09:30:18 WARNING: [Worker 0] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_3 in scene [object_manager.py: 1238] +05/25 09:30:18 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene [object_manager.py: 1238] +05/25 09:30:18 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene [object_manager.py: 1238] +05/25 09:30:18 WARNING: [Worker 0] Could not find object objataxidermybird_74899b53418345d38a5159913215384f_1_0_4 in scene [object_manager.py: 1238] +05/25 09:30:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:30:45 INFO: [Worker 0] Worker 0 house 4760 episode 0 object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 09:30:48 INFO: [Worker 0] Batching and saving trajectory data for house_4760: 1 episodes [pipeline.py: 233] +05/25 09:30:48 INFO: [Worker 0] Preparing episode data: 102 timesteps [save_utils.py: 284] +05/25 09:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:30:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4760 [save_utils.py: 703] +05/25 09:30:51 INFO: [Worker 0] Successfully saved trajectory data for house_4760 in 2.49s (batch: 2.44s, save: 0.05s) [pipeline.py: 280] +05/25 09:30:51 WARNING: [Worker 0] No trajectory data to save for house_4760 [pipeline.py: 229] +05/25 09:30:51 INFO: [Worker 0] Worker 0 completed house 4760: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:30:51 INFO: [Worker 0] Worker 0 starting house 4812 (index 105/122) [pipeline.py: 473] +05/25 09:30:51 INFO: [Worker 0] Loaded 1 episodes for house 4812 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:30:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:31:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4812_ceiling.xml [task_sampler.py: 797] +05/25 09:31:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4812, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:31:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:31:03 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/25 09:31:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:31:03 INFO: [Worker 0] Sampled task 'Pick up the pipet' [task_sampler.py: 1136] +05/25 09:31:03 INFO: [Worker 0] Worker 0 house 4812 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:31:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:31:03 WARNING: [Worker 0] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_3 in scene [object_manager.py: 1238] +05/25 09:31:03 WARNING: [Worker 0] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_3 in scene [object_manager.py: 1238] +05/25 09:31:03 WARNING: [Worker 0] Could not find object objasubmarine_c5fe51ccf7c5427b98afa3799a341931_2_0_6 in scene [object_manager.py: 1238] +05/25 09:31:03 WARNING: [Worker 0] Could not find object objabulletcasing_994975e1ffc846e9b7df8ea7bdeee0cb_1_0_6 in scene [object_manager.py: 1238] +05/25 09:31:32 INFO: [Worker 0] Worker 0 house 4812 episode 0 object objapipette_0ac026b437314112ad8a72471425d47f_1_0_7 completed with success=True [pipeline.py: 1114] +05/25 09:31:36 INFO: [Worker 0] Batching and saving trajectory data for house_4812: 1 episodes [pipeline.py: 233] +05/25 09:31:36 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 284] +05/25 09:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:31:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4812 [save_utils.py: 703] +05/25 09:31:39 INFO: [Worker 0] Successfully saved trajectory data for house_4812 in 2.48s (batch: 2.43s, save: 0.05s) [pipeline.py: 280] +05/25 09:31:39 WARNING: [Worker 0] No trajectory data to save for house_4812 [pipeline.py: 229] +05/25 09:31:39 INFO: [Worker 0] Worker 0 completed house 4812: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:31:39 INFO: [Worker 0] Worker 0 starting house 4861 (index 106/122) [pipeline.py: 473] +05/25 09:31:39 INFO: [Worker 0] Loaded 1 episodes for house 4861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:31:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:31:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4861_ceiling.xml [task_sampler.py: 797] +05/25 09:31:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4861, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:31:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:31:47 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 09:31:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:31:47 INFO: [Worker 0] Sampled task 'Pick up the curved metal plate' [task_sampler.py: 1136] +05/25 09:31:47 INFO: [Worker 0] Worker 0 house 4861 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:31:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:31:48 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene [object_manager.py: 1238] +05/25 09:31:48 WARNING: [Worker 0] Could not find object objacandle_a231a75666b04ec382be5c12ff7a554b_1_0_9 in scene [object_manager.py: 1238] +05/25 09:31:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:34:22 INFO: [Worker 0] Worker 0 house 4861 episode 0 object objametalplate_a0d9d68e339540b2ac14bd11b2d5e519_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:34:27 INFO: [Worker 0] Batching and saving trajectory data for house_4861: 1 episodes [pipeline.py: 233] +05/25 09:34:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:34:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:34:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4861 [save_utils.py: 703] +05/25 09:34:30 INFO: [Worker 0] Successfully saved trajectory data for house_4861 in 3.26s (batch: 3.16s, save: 0.10s) [pipeline.py: 280] +05/25 09:34:31 WARNING: [Worker 0] No trajectory data to save for house_4861 [pipeline.py: 229] +05/25 09:34:31 INFO: [Worker 0] Worker 0 completed house 4861: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:34:31 INFO: [Worker 0] Worker 0 starting house 4921 (index 107/122) [pipeline.py: 473] +05/25 09:34:31 INFO: [Worker 0] Loaded 1 episodes for house 4921 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:34:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:34:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4921_ceiling.xml [task_sampler.py: 797] +05/25 09:34:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4921, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:34:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:34:36 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/25 09:34:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:34:36 INFO: [Worker 0] Sampled task 'Pick up the glossy green vase with narrow neck' [task_sampler.py: 1136] +05/25 09:34:36 INFO: [Worker 0] Worker 0 house 4921 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:34:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:34:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:36:48 INFO: [Worker 0] Worker 0 house 4921 episode 0 object vase_61e70bb516f7e79bff61fcd075396cae_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:36:52 INFO: [Worker 0] Batching and saving trajectory data for house_4921: 1 episodes [pipeline.py: 233] +05/25 09:36:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:36:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:36:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4921 [save_utils.py: 703] +05/25 09:36:55 INFO: [Worker 0] Successfully saved trajectory data for house_4921 in 2.85s (batch: 2.75s, save: 0.10s) [pipeline.py: 280] +05/25 09:36:56 WARNING: [Worker 0] No trajectory data to save for house_4921 [pipeline.py: 229] +05/25 09:36:56 INFO: [Worker 0] Worker 0 completed house 4921: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:36:56 INFO: [Worker 0] Worker 0 starting house 4969 (index 108/122) [pipeline.py: 473] +05/25 09:36:56 INFO: [Worker 0] Loaded 1 episodes for house 4969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:36:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:37:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4969_ceiling.xml [task_sampler.py: 797] +05/25 09:37:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4969, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:37:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:37:00 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 09:37:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:37:00 INFO: [Worker 0] Sampled task 'Pick up the weathered metal vintage megaphone with handle' [task_sampler.py: 1136] +05/25 09:37:00 INFO: [Worker 0] Worker 0 house 4969 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:37:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:37:00 WARNING: [Worker 0] Could not find object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 in scene [object_manager.py: 1238] +05/25 09:37:00 WARNING: [Worker 0] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene [object_manager.py: 1238] +05/25 09:37:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:38:59 INFO: [Worker 0] Worker 0 house 4969 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:39:03 INFO: [Worker 0] Batching and saving trajectory data for house_4969: 1 episodes [pipeline.py: 233] +05/25 09:39:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:39:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:39:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4969 [save_utils.py: 703] +05/25 09:39:06 INFO: [Worker 0] Successfully saved trajectory data for house_4969 in 3.22s (batch: 3.10s, save: 0.12s) [pipeline.py: 280] +05/25 09:39:07 WARNING: [Worker 0] No trajectory data to save for house_4969 [pipeline.py: 229] +05/25 09:39:07 INFO: [Worker 0] Worker 0 completed house 4969: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:39:07 INFO: [Worker 0] Worker 0 starting house 5007 (index 109/122) [pipeline.py: 473] +05/25 09:39:07 INFO: [Worker 0] Loaded 1 episodes for house 5007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:39:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:39:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5007_ceiling.xml [task_sampler.py: 797] +05/25 09:39:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5007, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:39:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:39:16 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 09:39:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:39:16 INFO: [Worker 0] Sampled task 'Pick up the black leather spiked collar' [task_sampler.py: 1136] +05/25 09:39:16 INFO: [Worker 0] Worker 0 house 5007 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:39:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:39:16 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene [object_manager.py: 1238] +05/25 09:39:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:39:31 INFO: [Worker 0] Worker 0 house 5007 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 09:39:34 INFO: [Worker 0] Batching and saving trajectory data for house_5007: 1 episodes [pipeline.py: 233] +05/25 09:39:34 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/25 09:39:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:39:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5007 [save_utils.py: 703] +05/25 09:39:37 INFO: [Worker 0] Successfully saved trajectory data for house_5007 in 2.56s (batch: 2.47s, save: 0.09s) [pipeline.py: 280] +05/25 09:39:37 WARNING: [Worker 0] No trajectory data to save for house_5007 [pipeline.py: 229] +05/25 09:39:37 INFO: [Worker 0] Worker 0 completed house 5007: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:39:37 INFO: [Worker 0] Worker 0 starting house 5032 (index 110/122) [pipeline.py: 473] +05/25 09:39:37 INFO: [Worker 0] Loaded 1 episodes for house 5032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:39:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:39:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5032_ceiling.xml [task_sampler.py: 797] +05/25 09:39:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5032, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:39:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:39:43 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 09:39:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:39:43 INFO: [Worker 0] Sampled task 'Pick up the white modular connector with clamps' [task_sampler.py: 1136] +05/25 09:39:43 INFO: [Worker 0] Worker 0 house 5032 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:39:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:39:43 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_3 in scene [object_manager.py: 1238] +05/25 09:39:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:41:58 INFO: [Worker 0] Worker 0 house 5032 episode 0 object objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:42:01 INFO: [Worker 0] Batching and saving trajectory data for house_5032: 1 episodes [pipeline.py: 233] +05/25 09:42:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:42:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:42:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5032 [save_utils.py: 703] +05/25 09:42:04 INFO: [Worker 0] Successfully saved trajectory data for house_5032 in 2.60s (batch: 2.50s, save: 0.10s) [pipeline.py: 280] +05/25 09:42:04 WARNING: [Worker 0] No trajectory data to save for house_5032 [pipeline.py: 229] +05/25 09:42:04 INFO: [Worker 0] Worker 0 completed house 5032: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:42:04 INFO: [Worker 0] Worker 0 starting house 5071 (index 111/122) [pipeline.py: 473] +05/25 09:42:04 INFO: [Worker 0] Loaded 1 episodes for house 5071 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:42:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:42:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5071_ceiling.xml [task_sampler.py: 797] +05/25 09:42:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5071, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:42:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:42:10 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 09:42:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:42:10 INFO: [Worker 0] Sampled task 'Pick up the belt buckle' [task_sampler.py: 1136] +05/25 09:42:10 INFO: [Worker 0] Worker 0 house 5071 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:42:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:42:24 INFO: [Worker 0] Worker 0 house 5071 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 completed with success=True [pipeline.py: 1114] +05/25 09:42:28 INFO: [Worker 0] Batching and saving trajectory data for house_5071: 1 episodes [pipeline.py: 233] +05/25 09:42:28 INFO: [Worker 0] Preparing episode data: 47 timesteps [save_utils.py: 284] +05/25 09:42:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:42:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5071 [save_utils.py: 703] +05/25 09:42:30 INFO: [Worker 0] Successfully saved trajectory data for house_5071 in 2.28s (batch: 2.25s, save: 0.04s) [pipeline.py: 280] +05/25 09:42:31 WARNING: [Worker 0] No trajectory data to save for house_5071 [pipeline.py: 229] +05/25 09:42:31 INFO: [Worker 0] Worker 0 completed house 5071: 1/1 successful episodes [pipeline.py: 1243] +05/25 09:42:31 INFO: [Worker 0] Worker 0 starting house 5126 (index 112/122) [pipeline.py: 473] +05/25 09:42:31 INFO: [Worker 0] Loaded 1 episodes for house 5126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:42:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:42:33 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:42:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5126_ceiling.xml [task_sampler.py: 797] +05/25 09:42:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5126, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:42:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:42:37 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 09:42:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:42:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:42:37 INFO: [Worker 0] Sampled task 'Pick up the beige skull' [task_sampler.py: 1136] +05/25 09:42:37 INFO: [Worker 0] Worker 0 house 5126 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:42:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:42:37 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_6 in scene [object_manager.py: 1238] +05/25 09:44:38 INFO: [Worker 0] Worker 0 house 5126 episode 0 object objaskull_a08bf8b5a9df42d9895a78056393bb84_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 09:44:43 INFO: [Worker 0] Batching and saving trajectory data for house_5126: 1 episodes [pipeline.py: 233] +05/25 09:44:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:44:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:44:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5126 [save_utils.py: 703] +05/25 09:44:46 INFO: [Worker 0] Successfully saved trajectory data for house_5126 in 2.96s (batch: 2.84s, save: 0.12s) [pipeline.py: 280] +05/25 09:44:46 WARNING: [Worker 0] No trajectory data to save for house_5126 [pipeline.py: 229] +05/25 09:44:46 INFO: [Worker 0] Worker 0 completed house 5126: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:44:46 INFO: [Worker 0] Worker 0 starting house 5154 (index 113/122) [pipeline.py: 473] +05/25 09:44:46 INFO: [Worker 0] Loaded 1 episodes for house 5154 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:44:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:44:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5154_ceiling.xml [task_sampler.py: 797] +05/25 09:44:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5154, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:44:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:44:56 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/25 09:44:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:44:56 INFO: [Worker 0] Sampled task 'Pick up the skigoggles' [task_sampler.py: 1136] +05/25 09:44:56 INFO: [Worker 0] Worker 0 house 5154 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:44:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:44:56 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene [object_manager.py: 1238] +05/25 09:44:56 WARNING: [Worker 0] Could not find object objatooth_5e89ddbfc6454e2e8e09c645574b8932_1_0_9 in scene [object_manager.py: 1238] +05/25 09:44:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:47:15 INFO: [Worker 0] Worker 0 house 5154 episode 0 object objaskigoggles_29bf30fb9c4d43548106c095505054a2_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:47:19 INFO: [Worker 0] Batching and saving trajectory data for house_5154: 1 episodes [pipeline.py: 233] +05/25 09:47:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:47:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:47:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5154 [save_utils.py: 703] +05/25 09:47:21 INFO: [Worker 0] Successfully saved trajectory data for house_5154 in 2.67s (batch: 2.58s, save: 0.10s) [pipeline.py: 280] +05/25 09:47:22 WARNING: [Worker 0] No trajectory data to save for house_5154 [pipeline.py: 229] +05/25 09:47:22 INFO: [Worker 0] Worker 0 completed house 5154: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:47:22 INFO: [Worker 0] Worker 0 starting house 5201 (index 114/122) [pipeline.py: 473] +05/25 09:47:22 INFO: [Worker 0] Loaded 1 episodes for house 5201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:47:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:47:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5201_ceiling.xml [task_sampler.py: 797] +05/25 09:47:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5201, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:47:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:47:25 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/25 09:47:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:47:25 INFO: [Worker 0] Sampled task 'Pick up the tool' [task_sampler.py: 1136] +05/25 09:47:25 INFO: [Worker 0] Worker 0 house 5201 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:47:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:47:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:49:04 INFO: [Worker 0] Worker 0 house 5201 episode 0 object objahandheldtool_6a9923f0915d4945be0066b78487b112_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 09:49:08 INFO: [Worker 0] Batching and saving trajectory data for house_5201: 1 episodes [pipeline.py: 233] +05/25 09:49:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:49:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:49:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5201 [save_utils.py: 703] +05/25 09:49:11 INFO: [Worker 0] Successfully saved trajectory data for house_5201 in 2.92s (batch: 2.82s, save: 0.10s) [pipeline.py: 280] +05/25 09:49:12 WARNING: [Worker 0] No trajectory data to save for house_5201 [pipeline.py: 229] +05/25 09:49:12 INFO: [Worker 0] Worker 0 completed house 5201: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:49:12 INFO: [Worker 0] Worker 0 starting house 5234 (index 115/122) [pipeline.py: 473] +05/25 09:49:12 INFO: [Worker 0] Loaded 1 episodes for house 5234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:49:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:49:14 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 09:49:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5234_ceiling.xml [task_sampler.py: 797] +05/25 09:49:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5234, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:49:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:49:17 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 09:49:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:49:17 INFO: [Worker 0] Sampled task 'Pick up the terracotta greek kylix cup' [task_sampler.py: 1136] +05/25 09:49:17 INFO: [Worker 0] Worker 0 house 5234 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:49:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:49:17 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene [object_manager.py: 1238] +05/25 09:49:17 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/25 09:49:17 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 09:49:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:51:34 INFO: [Worker 0] Worker 0 house 5234 episode 0 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 09:51:38 INFO: [Worker 0] Batching and saving trajectory data for house_5234: 1 episodes [pipeline.py: 233] +05/25 09:51:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:51:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:51:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5234 [save_utils.py: 703] +05/25 09:51:42 INFO: [Worker 0] Successfully saved trajectory data for house_5234 in 3.45s (batch: 3.27s, save: 0.18s) [pipeline.py: 280] +05/25 09:51:42 WARNING: [Worker 0] No trajectory data to save for house_5234 [pipeline.py: 229] +05/25 09:51:42 INFO: [Worker 0] Worker 0 completed house 5234: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:51:42 INFO: [Worker 0] Worker 0 starting house 5266 (index 116/122) [pipeline.py: 473] +05/25 09:51:42 INFO: [Worker 0] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:51:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5266_ceiling.xml [task_sampler.py: 797] +05/25 09:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5266, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 09:51:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:51:47 INFO: [Worker 0] Sampled task 'Pick up the vintage desk calendar with handle' [task_sampler.py: 1136] +05/25 09:51:47 INFO: [Worker 0] Worker 0 house 5266 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:51:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:51:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:53:55 INFO: [Worker 0] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 09:53:59 INFO: [Worker 0] Batching and saving trajectory data for house_5266: 1 episodes [pipeline.py: 233] +05/25 09:53:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:54:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:54:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5266 [save_utils.py: 703] +05/25 09:54:02 INFO: [Worker 0] Successfully saved trajectory data for house_5266 in 2.83s (batch: 2.70s, save: 0.13s) [pipeline.py: 280] +05/25 09:54:02 WARNING: [Worker 0] No trajectory data to save for house_5266 [pipeline.py: 229] +05/25 09:54:02 INFO: [Worker 0] Worker 0 completed house 5266: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:54:02 INFO: [Worker 0] Worker 0 starting house 5296 (index 117/122) [pipeline.py: 473] +05/25 09:54:02 INFO: [Worker 0] Loaded 1 episodes for house 5296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:54:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:54:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5296_ceiling.xml [task_sampler.py: 797] +05/25 09:54:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5296, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:54:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:54:07 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/25 09:54:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:54:07 INFO: [Worker 0] Sampled task 'Pick up the gray remote control with colored buttons' [task_sampler.py: 1136] +05/25 09:54:07 INFO: [Worker 0] Worker 0 house 5296 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:54:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:54:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 09:56:02 INFO: [Worker 0] Worker 0 house 5296 episode 0 object objaremotecontrol_35714aa2b0cd430a8b8e688e7daa4df3_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 09:56:05 INFO: [Worker 0] Batching and saving trajectory data for house_5296: 1 episodes [pipeline.py: 233] +05/25 09:56:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:56:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:56:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5296 [save_utils.py: 703] +05/25 09:56:08 INFO: [Worker 0] Successfully saved trajectory data for house_5296 in 2.83s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/25 09:56:09 WARNING: [Worker 0] No trajectory data to save for house_5296 [pipeline.py: 229] +05/25 09:56:09 INFO: [Worker 0] Worker 0 completed house 5296: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:56:09 INFO: [Worker 0] Worker 0 starting house 5321 (index 118/122) [pipeline.py: 473] +05/25 09:56:09 INFO: [Worker 0] Loaded 1 episodes for house 5321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:56:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:56:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5321_ceiling.xml [task_sampler.py: 797] +05/25 09:56:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5321, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:56:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:56:12 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/25 09:56:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:56:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:56:12 INFO: [Worker 0] Sampled task 'Pick up the glossy u-shaped blue and red magnet' [task_sampler.py: 1136] +05/25 09:56:12 INFO: [Worker 0] Worker 0 house 5321 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:56:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:56:12 WARNING: [Worker 0] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_2 in scene [object_manager.py: 1238] +05/25 09:58:10 INFO: [Worker 0] Worker 0 house 5321 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 09:58:14 INFO: [Worker 0] Batching and saving trajectory data for house_5321: 1 episodes [pipeline.py: 233] +05/25 09:58:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 09:58:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 09:58:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5321 [save_utils.py: 703] +05/25 09:58:17 INFO: [Worker 0] Successfully saved trajectory data for house_5321 in 3.15s (batch: 3.02s, save: 0.13s) [pipeline.py: 280] +05/25 09:58:18 WARNING: [Worker 0] No trajectory data to save for house_5321 [pipeline.py: 229] +05/25 09:58:18 INFO: [Worker 0] Worker 0 completed house 5321: 0/1 successful episodes [pipeline.py: 1243] +05/25 09:58:18 INFO: [Worker 0] Worker 0 starting house 5359 (index 119/122) [pipeline.py: 473] +05/25 09:58:18 INFO: [Worker 0] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 09:58:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 09:58:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5359_ceiling.xml [task_sampler.py: 797] +05/25 09:58:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5359, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 09:58:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 09:58:26 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 09:58:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 09:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 09:58:26 INFO: [Worker 0] Sampled task 'Pick up the long brown wooden molding with jagged edge' [task_sampler.py: 1136] +05/25 09:58:26 INFO: [Worker 0] Worker 0 house 5359 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 09:58:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 09:58:26 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene [object_manager.py: 1238] +05/25 09:58:26 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene [object_manager.py: 1238] +05/25 10:00:41 INFO: [Worker 0] Worker 0 house 5359 episode 0 object objamolding_196153b6712d4e63a3dd341bcd97b690_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 10:00:45 INFO: [Worker 0] Batching and saving trajectory data for house_5359: 1 episodes [pipeline.py: 233] +05/25 10:00:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:00:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:00:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5359 [save_utils.py: 703] +05/25 10:00:48 INFO: [Worker 0] Successfully saved trajectory data for house_5359 in 2.80s (batch: 2.70s, save: 0.11s) [pipeline.py: 280] +05/25 10:00:49 WARNING: [Worker 0] No trajectory data to save for house_5359 [pipeline.py: 229] +05/25 10:00:49 INFO: [Worker 0] Worker 0 completed house 5359: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:00:49 INFO: [Worker 0] Worker 0 starting house 5417 (index 120/122) [pipeline.py: 473] +05/25 10:00:49 INFO: [Worker 0] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 10:00:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:00:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5417_ceiling.xml [task_sampler.py: 797] +05/25 10:00:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5417, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:00:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:00:59 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/25 10:00:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:00:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:00:59 INFO: [Worker 0] Sampled task 'Pick up the dark wooden handle handbell' [task_sampler.py: 1136] +05/25 10:00:59 INFO: [Worker 0] Worker 0 house 5417 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:00:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:00:59 WARNING: [Worker 0] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene [object_manager.py: 1238] +05/25 10:00:59 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene [object_manager.py: 1238] +05/25 10:03:28 INFO: [Worker 0] Worker 0 house 5417 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 10:03:32 INFO: [Worker 0] Batching and saving trajectory data for house_5417: 1 episodes [pipeline.py: 233] +05/25 10:03:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:03:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:03:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5417 [save_utils.py: 703] +05/25 10:03:35 INFO: [Worker 0] Successfully saved trajectory data for house_5417 in 2.93s (batch: 2.83s, save: 0.10s) [pipeline.py: 280] +05/25 10:03:35 WARNING: [Worker 0] No trajectory data to save for house_5417 [pipeline.py: 229] +05/25 10:03:35 INFO: [Worker 0] Worker 0 completed house 5417: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:03:35 INFO: [Worker 0] Worker 0 starting house 5455 (index 121/122) [pipeline.py: 473] +05/25 10:03:35 INFO: [Worker 0] Loaded 1 episodes for house 5455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 10:03:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:03:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5455_ceiling.xml [task_sampler.py: 797] +05/25 10:03:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5455, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:03:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:03:39 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/25 10:03:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:03:39 INFO: [Worker 0] Sampled task 'Pick up the beige and white tray' [task_sampler.py: 1136] +05/25 10:03:39 INFO: [Worker 0] Worker 0 house 5455 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:03:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:03:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:04:00 INFO: [Worker 0] Worker 0 house 5455 episode 0 object objatray_80f3e8ff021f4f298807123b17f968d8_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 10:04:04 INFO: [Worker 0] Batching and saving trajectory data for house_5455: 1 episodes [pipeline.py: 233] +05/25 10:04:04 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/25 10:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:04:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5455 [save_utils.py: 703] +05/25 10:04:07 INFO: [Worker 0] Successfully saved trajectory data for house_5455 in 2.57s (batch: 2.53s, save: 0.04s) [pipeline.py: 280] +05/25 10:04:07 WARNING: [Worker 0] No trajectory data to save for house_5455 [pipeline.py: 229] +05/25 10:04:07 INFO: [Worker 0] Worker 0 completed house 5455: 1/1 successful episodes [pipeline.py: 1243] +05/25 10:04:07 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/25 10:04:08 INFO: Completed 122 houses, skipped 0 houses [pipeline.py: 1496] +05/25 10:04:08 INFO: Success count: 39, Total count: 125 [pipeline.py: 1499] +05/25 10:04:08 INFO: Success rate: 31.20% [pipeline.py: 1500] diff --git a/pick_randcam/pick_randcam/shards/shard_07/eval/episode_results.jsonl b/pick_randcam/pick_randcam/shards/shard_07/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17c2fd6cc1b97a9870808a654b7e925fbaf2b0bb --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/eval/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_1011", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished adjustable metallic cabinet hinge", "object_name": "objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1011/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1044", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and yellow protective glove", "object_name": "objaglove_4acd6e81122542a58a9da9695185a231_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1044/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark glossy green apple", "object_name": "objaapple_fddd771429044d859611f2007e57b2a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1087/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1118", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue four-sided die", "object_name": "objadie_7df438532d2f4567a87fb61f0336ad57_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1188", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy pink mushroom with spots", "object_name": "objadecorativeknob_e4ebb7a0afb94b618583f2c6bb2ddab4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1188/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1237", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the clothes iron", "object_name": "objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_124", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown branch with red berries", "object_name": "objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_124/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black sleek remote", "object_name": "objaremotecontrol_f130817ddede45b5acd1d78f7af099d0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1277/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_13", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_13/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1304", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato", "object_name": "objatomato_a64e1ac7f8c44821bbc365f0581d95b2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1304/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1334", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray bird with orange beak", "object_name": "objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1334/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black collar with sharp metal spikes", "object_name": "objacollar_eb320910987847f0b361c8c1936d9574_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1385", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow bubble tea cup with straw", "object_name": "objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_3_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1385/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1459", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive-green handheld radio", "object_name": "objahandheldradio_70225bd7152645f689593ac423bbbf6b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1459/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1504", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mechanical clock", "object_name": "objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1504/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1567", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the measuring system", "object_name": "objaanemometer_c38f08309b6b476883c801597bd24727_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1567/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1585", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the wooden paddle with black decorative rectangles", "object_name": "objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1585/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1585", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular network switch with ports", "object_name": "objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1585/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1625", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 67, "task_description": "Pick up the shallow pan with wooden handle", "object_name": "cookingpan_40a9be8ae8b33a178aac27f51bb40432_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1625/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1655", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toilet roll", "object_name": "objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1655/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1703", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal trowel", "object_name": "objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1703/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1729", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 125, "task_description": "Pick up the rusty white lever", "object_name": "objalever_b4e8376a83f9421881a8cefe856862ab_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1729/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_176", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small shiny gold dog statue", "object_name": "statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_176/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1775", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long slender bronze metal bar with patch", "object_name": "objametalbar_81e66e5123c44a1c8ca59aebcc0bf110_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1822", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver garden trowel", "object_name": "objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1822/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1878", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue kerosene lantern with glass globe", "object_name": "objalantern_c7a9fa27b8084433b19e1e528eb9a7ce_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1878/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1912", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the camouflage holographic sight", "object_name": "objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1912/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1945", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 121, "task_description": "Pick up the trumpet", "object_name": "objatrumpet_924f0f90d14c40eb86b4a985875525a9_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1945/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark brown stick", "object_name": "objawoodenstick_3ba2224b87d449268084ea854f6fb1fb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2002", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vintage camera with rainbow stripe", "object_name": "objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2002/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2033", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 95, "task_description": "Pick up the ornate beige oval hand mirror", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2033/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2069", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow battery with red button", "object_name": "objabattery_6c270b8def2b4303869ec14484f2ab05_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2069/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2117", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 80, "task_description": "Pick up the green metal tool", "object_name": "objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2117/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_213", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool with triangular loop", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2", "data_file_path": 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"metadata": {}} +{"house_id": "house_2771", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black candle with gold", "object_name": "objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2771/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2819", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray curved shoe last", "object_name": "objashoelast_381a6ac90d194e4bbe49c05e20fa24fd_1_0_4", "data_file_path": 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"task_description": "Pick up the hollow gradient gender symbol with cross", "object_name": "objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4500/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_454", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the magenta coil spring on base", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_454/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4552", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the toy helicopter", "object_name": "objatoyhelicopter_3a766d9cc0484f1993dd8dc658b81181_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4552/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4581", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ingot", "object_name": "objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4581/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4656", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the album", "object_name": "objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4656/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4721", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round black plastic bottle cap", "object_name": "objabottlecap_d47d2f5bc5fd4af890cec03b9d8613ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4721/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4760", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 100, "task_description": "Pick up the metal brooch", "object_name": "objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4760/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4812", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 75, "task_description": "Pick up the pipet", "object_name": "objapipette_0ac026b437314112ad8a72471425d47f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4812/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_484", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the rustic clay pot", "object_name": "objaclaypot_59f804616d3a43efb1c01c5e51d84ec5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_484/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4861", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved metal plate", "object_name": "objametalplate_a0d9d68e339540b2ac14bd11b2d5e519_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4861/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4921", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green vase with narrow neck", "object_name": "vase_61e70bb516f7e79bff61fcd075396cae_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4921/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4969", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the weathered metal vintage megaphone with handle", "object_name": "objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5007", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the black leather spiked collar", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5007/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white modular connector with clamps", "object_name": "objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5032/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5071", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the belt buckle", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5071/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige skull", "object_name": "objaskull_a08bf8b5a9df42d9895a78056393bb84_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5126/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5154", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the skigoggles", "object_name": "objaskigoggles_29bf30fb9c4d43548106c095505054a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5154/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5201", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tool", "object_name": "objahandheldtool_6a9923f0915d4945be0066b78487b112_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5201/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the terracotta greek kylix cup", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage desk calendar with handle", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote control with colored buttons", "object_name": "objaremotecontrol_35714aa2b0cd430a8b8e688e7daa4df3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5296/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5321", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy u-shaped blue and red magnet", "object_name": "objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5321/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long brown wooden molding with jagged edge", "object_name": "objamolding_196153b6712d4e63a3dd341bcd97b690_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5417", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden handle handbell", "object_name": "objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5417/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5455", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the beige and white tray", "object_name": "objatray_80f3e8ff021f4f298807123b17f968d8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5455/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_randcam/pick_randcam/shards/shard_07/eval/eval.log b/pick_randcam/pick_randcam/shards/shard_07/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..80f6ab5d4193b2beb647926117edb885921ac06a --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/eval/eval.log @@ -0,0 +1,3983 @@ +[2026-05-25 06:17:08,835] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-25 06:17:08,869] INFO Selected MuJoCo backend: egl +[2026-05-25 06:17:08,905] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 (source=arg) +[2026-05-25 06:17:11,219] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-25 06:17:20,757] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-25 06:21:39,627] INFO Using save_video_sensors=['__none__'] +[2026-05-25 06:21:44,334] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-25 06:21:44,399] INFO Using explicit task_horizon override: 450 steps +[05/25 06:21:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-25 06:21:44,456] INFO JsonEvalRunner initialized: 122 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:21:44 INFO pipeline.py:1279] Starting house-by-house rollout of 122 houses with 2 episodes each (244 total episodes) using 1 worker processes +[05/25 06:21:44 INFO pipeline.py:1286] Evaluation configuration: +[05/25 06:21:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 13, + 124, + 176, + 213, + 268, + 336, + 384, + 431, + 454, + 484, + 1011, + 1044, + 1087, + 1118, + 1188, + 1237, + 1277, + 1304, + 1334, + 1359, + 1385, + 1459, + 1504, + 1567, + 1585, + 1625, + 1655, + 1703, + 1729, + 1775, + 1822, + 1878, + 1912, + 1945, + 1972, + 2002, + 2033, + 2069, + 2117, + 2144, + 2196, + 2220, + 2278, + 2319, + 2358, + 2399, + 2419, + 2472, + 2512, + 2513, + 2553, + 2590, + 2633, + 2655, + 2704, + 2735, + 2771, + 2819, + 2854, + 2885, + 2932, + 2976, + 3027, + 3060, + 3105, + 3191, + 3226, + 3246, + 3276, + 3316, + 3379, + 3423, + 3467, + 3501, + 3531, + 3576, + 3613, + 3647, + 3687, + 3725, + 3769, + 3818, + 3826, + 3851, + 3880, + 3902, + 3928, + 3971, + 4004, + 4041, + 4106, + 4158, + 4205, + 4270, + 4315, + 4372, + 4404, + 4460, + 4500, + 4552, + 4581, + 4656, + 4721, + 4760, + 4812, + 4861, + 4921, + 4969, + 5007, + 5032, + 5071, + 5126, + 5154, + 5201, + 5234, + 5266, + 5296, + 5321, + 5359, + 5417, + 5455], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-25 06:21:44,465] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +[05/25 06:21:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/25 06:21:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4 (index 0/122) +[05/25 06:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +2026-05-25 06:21:58.239 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-25 06:21:59,252] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-25 06:21:59,689] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-25 06:22:00,638] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-25 06:22:00,844] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-25 06:22:00,847] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/25 06:22:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:24:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 0 object objadecorativeelement_223af6ac11154e938314733f5d0a4128_1_0_7 completed with success=False +[05/25 06:24:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4: 1 episodes +[05/25 06:24:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:24:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:24:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4 +[05/25 06:24:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4 in 2.95s (batch: 2.85s, save: 0.10s) +[05/25 06:24:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4 +[05/25 06:24:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4: 0/1 successful episodes +[05/25 06:24:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 13 (index 1/122) +[05/25 06:24:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 13 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:24:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 06:25:05 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_9cb18a2bb2734bacbbab6a15af4acc95_1_0_8 in scene +[05/25 06:25:05 Worker 0 WARNING object_manager.py:1238] Could not find object plate_838def382388bb29da57a8cddc03b072_1_0_8 in scene +[05/25 06:25:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:27:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_9 completed with success=False +[05/25 06:27:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_13: 1 episodes +[05/25 06:27:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:27:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:27:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_13 +[05/25 06:27:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_13 in 2.76s (batch: 2.64s, save: 0.12s) +[05/25 06:27:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_13 +[05/25 06:27:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 13: 0/1 successful episodes +[05/25 06:27:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 124 (index 2/122) +[05/25 06:27:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:27:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 06:29:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 124 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False +[05/25 06:29:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_124: 1 episodes +[05/25 06:29:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:29:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:29:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_124 +[05/25 06:29:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_124 in 2.61s (batch: 2.52s, save: 0.09s) +[05/25 06:29:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_124 +[05/25 06:29:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 124: 0/1 successful episodes +[05/25 06:29:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 176 (index 3/122) +[05/25 06:29:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 176 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:29:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 06:29:24 Worker 0 WARNING object_manager.py:1238] Could not find object box_99992203579ebcc1c3794f83f3a3cbe3_1_0_3 in scene +[05/25 06:29:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 0 object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_3 completed with success=False +[05/25 06:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_176: 1 episodes +[05/25 06:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_176 +[05/25 06:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_176 in 3.05s (batch: 2.93s, save: 0.12s) +[05/25 06:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_176 +[05/25 06:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 176: 0/1 successful episodes +[05/25 06:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 213 (index 4/122) +[05/25 06:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 06:33:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 213 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/25 06:33:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_213: 1 episodes +[05/25 06:33:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:33:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:33:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_213 +[05/25 06:33:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_213 in 3.11s (batch: 2.93s, save: 0.18s) +[05/25 06:33:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_213 +[05/25 06:33:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 213: 0/1 successful episodes +[05/25 06:33:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 268 (index 5/122) +[05/25 06:33:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 268 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:33:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 06:33:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:35:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 268 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_2 completed with success=False +[05/25 06:35:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_268: 1 episodes +[05/25 06:35:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:35:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:35:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_268 +[05/25 06:35:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_268 in 3.03s (batch: 2.91s, save: 0.12s) +[05/25 06:35:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_268 +[05/25 06:35:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 268: 0/1 successful episodes +[05/25 06:35:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 336 (index 6/122) +[05/25 06:35:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:35:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/25 06:38:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 336 episode 0 object objastake_560fbea9661941a5a5b9bcc8383849ea_1_0_8 completed with success=False +[05/25 06:38:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_336: 1 episodes +[05/25 06:38:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:38:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:38:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_336 +[05/25 06:38:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_336 in 2.71s (batch: 2.60s, save: 0.11s) +[05/25 06:38:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_336 +[05/25 06:38:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 336: 0/1 successful episodes +[05/25 06:38:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 384 (index 7/122) +[05/25 06:38:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:38:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 06:38:41 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene +[05/25 06:38:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:40:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 0 object objadecorativeartifact_736840eeb3154bcb91ddb67a221ae993_1_0_5 completed with success=False +[05/25 06:40:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_384: 1 episodes +[05/25 06:40:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:40:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:40:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_384 +[05/25 06:40:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_384 in 2.91s (batch: 2.81s, save: 0.10s) +[05/25 06:40:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_384 +[05/25 06:40:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 384: 0/1 successful episodes +[05/25 06:40:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 431 (index 8/122) +[05/25 06:40:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:40:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 06:40:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:43:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 431 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False +[05/25 06:43:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_431: 1 episodes +[05/25 06:43:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:43:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_431 +[05/25 06:43:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_431 in 2.78s (batch: 2.65s, save: 0.13s) +[05/25 06:43:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_431 +[05/25 06:43:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 431: 0/1 successful episodes +[05/25 06:43:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 454 (index 9/122) +[05/25 06:43:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:43:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +[05/25 06:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 454 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_6 completed with success=True +[05/25 06:43:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_454: 1 episodes +[05/25 06:43:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/25 06:43:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_454 +[05/25 06:43:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_454 in 2.66s (batch: 2.61s, save: 0.05s) +[05/25 06:43:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_454 +[05/25 06:43:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 454: 1/1 successful episodes +[05/25 06:43:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 484 (index 10/122) +[05/25 06:43:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:43:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/25 06:43:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:43:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 484 episode 0 object objaclaypot_59f804616d3a43efb1c01c5e51d84ec5_1_0_2 completed with success=True +[05/25 06:44:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_484: 1 episodes +[05/25 06:44:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/25 06:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:44:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_484 +[05/25 06:44:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_484 in 2.37s (batch: 2.33s, save: 0.03s) +[05/25 06:44:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_484 +[05/25 06:44:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 484: 1/1 successful episodes +[05/25 06:44:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1011 (index 11/122) +[05/25 06:44:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:44:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/25 06:44:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 1011 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2 completed with success=False +[05/25 06:45:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1011: 1 episodes +[05/25 06:45:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:45:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:45:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1011 +[05/25 06:45:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1011 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 06:45:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1011 +[05/25 06:45:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1011: 0/1 successful episodes +[05/25 06:45:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1044 (index 12/122) +[05/25 06:45:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:45:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:45:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:48:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 1044 episode 0 object objaglove_4acd6e81122542a58a9da9695185a231_1_0_7 completed with success=False +[05/25 06:48:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1044: 1 episodes +[05/25 06:48:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:48:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:48:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1044 +[05/25 06:48:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1044 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 06:48:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1044 +[05/25 06:48:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1044: 0/1 successful episodes +[05/25 06:48:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1087 (index 13/122) +[05/25 06:48:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:48:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 06:48:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1087 episode 0 object objaapple_fddd771429044d859611f2007e57b2a1_1_0_2 completed with success=False +[05/25 06:50:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1087: 1 episodes +[05/25 06:50:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:50:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1087 +[05/25 06:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1087 in 3.03s (batch: 2.91s, save: 0.12s) +[05/25 06:50:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1087 +[05/25 06:50:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1087: 0/1 successful episodes +[05/25 06:50:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1118 (index 14/122) +[05/25 06:50:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:50:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:53:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1118 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_4 completed with success=False +[05/25 06:53:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1118: 1 episodes +[05/25 06:53:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:53:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:53:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1118 +[05/25 06:53:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1118 in 2.93s (batch: 2.82s, save: 0.11s) +[05/25 06:53:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1118 +[05/25 06:53:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1118: 0/1 successful episodes +[05/25 06:53:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1188 (index 15/122) +[05/25 06:53:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:53:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 06:53:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 1188 episode 0 object objadecorativeknob_e4ebb7a0afb94b618583f2c6bb2ddab4_1_0_6 completed with success=False +[05/25 06:55:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1188: 1 episodes +[05/25 06:55:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:55:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:55:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1188 +[05/25 06:55:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1188 in 3.20s (batch: 3.10s, save: 0.09s) +[05/25 06:55:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1188 +[05/25 06:55:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1188: 0/1 successful episodes +[05/25 06:55:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1237 (index 16/122) +[05/25 06:55:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:55:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 06:56:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1237 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 completed with success=True +[05/25 06:56:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1237: 1 episodes +[05/25 06:56:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 06:56:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:56:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1237 +[05/25 06:56:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1237 in 2.51s (batch: 2.47s, save: 0.04s) +[05/25 06:56:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1237 +[05/25 06:56:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1237: 1/1 successful episodes +[05/25 06:56:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1277 (index 17/122) +[05/25 06:56:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:56:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:58:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1277 episode 0 object objaremotecontrol_f130817ddede45b5acd1d78f7af099d0_1_0_6 completed with success=False +[05/25 06:58:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1277: 1 episodes +[05/25 06:58:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:58:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:58:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1277 +[05/25 06:58:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1277 in 2.69s (batch: 2.60s, save: 0.09s) +[05/25 06:58:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1277 +[05/25 06:58:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1277: 0/1 successful episodes +[05/25 06:58:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1304 (index 18/122) +[05/25 06:58:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:58:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:58:36 Worker 0 WARNING object_manager.py:1238] Could not find object objawalrusskull_a8fcc4dbeaee4ec5b3e367cbe30bc1a8_1_0_4 in scene +[05/25 06:58:36 Worker 0 WARNING object_manager.py:1238] Could not find object objawalkietalkie_30dac864de094a7d8721e3fe8b3731e2_1_0_4 in scene +[05/25 06:58:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1304 episode 0 object objatomato_a64e1ac7f8c44821bbc365f0581d95b2_1_0_2 completed with success=False +[05/25 07:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1304: 1 episodes +[05/25 07:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:00:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:00:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1304 +[05/25 07:00:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1304 in 2.72s (batch: 2.61s, save: 0.11s) +[05/25 07:00:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1304 +[05/25 07:00:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1304: 0/1 successful episodes +[05/25 07:00:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1334 (index 19/122) +[05/25 07:00:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:00:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:00:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:01:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 1334 episode 0 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False +[05/25 07:01:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1334: 1 episodes +[05/25 07:01:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:02:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:02:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1334 +[05/25 07:02:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1334 in 2.94s (batch: 2.83s, save: 0.11s) +[05/25 07:02:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1334 +[05/25 07:02:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1334: 0/1 successful episodes +[05/25 07:02:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1359 (index 20/122) +[05/25 07:02:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:02:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalclamp_4349300626ef4f3e9448d00fa0147421_1_0_7 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objafoodmodel_010bfd2169e84462816688838d5f8976_1_0_7 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_9 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_9 in scene +[05/25 07:05:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1359 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_9 completed with success=False +[05/25 07:05:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1359: 1 episodes +[05/25 07:05:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:05:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1359 +[05/25 07:05:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1359 in 3.10s (batch: 2.95s, save: 0.16s) +[05/25 07:05:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1359 +[05/25 07:05:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1359: 0/1 successful episodes +[05/25 07:05:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1385 (index 21/122) +[05/25 07:05:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:05:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 07:05:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:07:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 1385 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_3_0_2 completed with success=False +[05/25 07:07:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1385: 1 episodes +[05/25 07:07:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:07:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:07:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1385 +[05/25 07:07:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1385 in 2.78s (batch: 2.68s, save: 0.10s) +[05/25 07:07:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1385 +[05/25 07:07:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1385: 0/1 successful episodes +[05/25 07:07:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1459 (index 22/122) +[05/25 07:07:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:07:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:07:40 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_90901577d17b4a96bd853c19b47e579a_1_0_5 in scene +[05/25 07:07:40 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_2_0_5 in scene +[05/25 07:07:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:09:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 1459 episode 0 object objahandheldradio_70225bd7152645f689593ac423bbbf6b_1_0_4 completed with success=False +[05/25 07:09:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1459: 1 episodes +[05/25 07:09:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1459 +[05/25 07:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1459 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 07:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1459 +[05/25 07:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1459: 0/1 successful episodes +[05/25 07:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1504 (index 23/122) +[05/25 07:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 07:10:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene +[05/25 07:10:00 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/25 07:10:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False +[05/25 07:12:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1504: 1 episodes +[05/25 07:12:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:12:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1504 +[05/25 07:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1504 in 2.85s (batch: 2.76s, save: 0.10s) +[05/25 07:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1504 +[05/25 07:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1504: 0/1 successful episodes +[05/25 07:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1567 (index 24/122) +[05/25 07:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1567 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +[05/25 07:12:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 1567 episode 0 object objaanemometer_c38f08309b6b476883c801597bd24727_1_0_2 completed with success=True +[05/25 07:12:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1567: 1 episodes +[05/25 07:12:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 07:12:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:12:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1567 +[05/25 07:12:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1567 in 2.34s (batch: 2.30s, save: 0.04s) +[05/25 07:12:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1567 +[05/25 07:12:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1567: 1/1 successful episodes +[05/25 07:12:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1585 (index 25/122) +[05/25 07:12:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:12:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:12:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 1585 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_7 completed with success=True +[05/25 07:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:13:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:15:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 1585 episode 1 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_8 completed with success=False +[05/25 07:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1585: 2 episodes +[05/25 07:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 07:15:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:15:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1585 +[05/25 07:15:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1585 in 5.35s (batch: 5.17s, save: 0.18s) +[05/25 07:15:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1585 +[05/25 07:15:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1585: 1/2 successful episodes +[05/25 07:15:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1625 (index 26/122) +[05/25 07:15:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:15:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/25 07:15:17 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene +[05/25 07:15:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:15:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1625 episode 0 object cookingpan_40a9be8ae8b33a178aac27f51bb40432_1_0_6 completed with success=True +[05/25 07:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1625: 1 episodes +[05/25 07:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/25 07:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1625 +[05/25 07:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1625 in 2.52s (batch: 2.47s, save: 0.04s) +[05/25 07:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1625 +[05/25 07:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1625: 1/1 successful episodes +[05/25 07:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1655 (index 27/122) +[05/25 07:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 07:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1655 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 completed with success=False +[05/25 07:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1655: 1 episodes +[05/25 07:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:17:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:17:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1655 +[05/25 07:17:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1655 in 2.60s (batch: 2.50s, save: 0.10s) +[05/25 07:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1655 +[05/25 07:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1655: 0/1 successful episodes +[05/25 07:17:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1703 (index 28/122) +[05/25 07:17:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1703 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 07:17:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:19:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1703 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_6 completed with success=False +[05/25 07:19:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1703: 1 episodes +[05/25 07:19:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:19:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:19:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1703 +[05/25 07:19:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1703 in 2.79s (batch: 2.70s, save: 0.10s) +[05/25 07:19:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1703 +[05/25 07:19:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1703: 0/1 successful episodes +[05/25 07:19:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1729 (index 29/122) +[05/25 07:19:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:19:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:20:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:20:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1729 episode 0 object objalever_b4e8376a83f9421881a8cefe856862ab_1_0_4 completed with success=True +[05/25 07:20:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1729: 1 episodes +[05/25 07:20:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/25 07:20:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:20:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1729 +[05/25 07:20:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1729 in 2.59s (batch: 2.54s, save: 0.05s) +[05/25 07:20:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1729 +[05/25 07:20:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1729: 1/1 successful episodes +[05/25 07:20:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1775 (index 30/122) +[05/25 07:20:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:20:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 07:20:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 in scene +[05/25 07:20:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene +[05/25 07:20:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:22:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1775 episode 0 object objametalbar_81e66e5123c44a1c8ca59aebcc0bf110_1_0_7 completed with success=False +[05/25 07:23:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1775: 1 episodes +[05/25 07:23:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:23:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1775 +[05/25 07:23:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1775 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 07:23:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1775 +[05/25 07:23:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1775: 0/1 successful episodes +[05/25 07:23:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1822 (index 31/122) +[05/25 07:23:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:23:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:23:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:25:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 1822 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_3 completed with success=False +[05/25 07:25:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1822: 1 episodes +[05/25 07:25:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:25:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1822 +[05/25 07:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1822 in 3.07s (batch: 2.96s, save: 0.11s) +[05/25 07:25:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1822 +[05/25 07:25:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1822: 0/1 successful episodes +[05/25 07:25:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1878 (index 32/122) +[05/25 07:25:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:25:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaterrain_0637e7500cff4e088f4935977fc87309_1_0_6 in scene +[05/25 07:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_6 in scene +[05/25 07:25:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:27:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1878 episode 0 object objalantern_c7a9fa27b8084433b19e1e528eb9a7ce_1_0_7 completed with success=False +[05/25 07:27:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1878: 1 episodes +[05/25 07:27:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:27:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1878 +[05/25 07:27:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1878 in 2.72s (batch: 2.59s, save: 0.13s) +[05/25 07:27:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1878 +[05/25 07:27:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1878: 0/1 successful episodes +[05/25 07:27:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1912 (index 33/122) +[05/25 07:27:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:27:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:27:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:29:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1912 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_4 completed with success=False +[05/25 07:29:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1912: 1 episodes +[05/25 07:29:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:30:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1912 +[05/25 07:30:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1912 in 2.89s (batch: 2.78s, save: 0.11s) +[05/25 07:30:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1912 +[05/25 07:30:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1912: 0/1 successful episodes +[05/25 07:30:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1945 (index 34/122) +[05/25 07:30:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:30:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 07:30:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:30:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 1945 episode 0 object objatrumpet_924f0f90d14c40eb86b4a985875525a9_1_0_9 completed with success=True +[05/25 07:30:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1945: 1 episodes +[05/25 07:30:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 123 timesteps +[05/25 07:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1945 +[05/25 07:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1945 in 2.71s (batch: 2.67s, save: 0.05s) +[05/25 07:30:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1945 +[05/25 07:30:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1945: 1/1 successful episodes +[05/25 07:30:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1972 (index 35/122) +[05/25 07:30:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:30:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 07:32:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1972 episode 0 object objawoodenstick_3ba2224b87d449268084ea854f6fb1fb_1_0_6 completed with success=False +[05/25 07:32:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1972: 1 episodes +[05/25 07:32:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:32:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:32:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1972 +[05/25 07:32:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1972 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 07:32:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1972 +[05/25 07:32:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1972: 0/1 successful episodes +[05/25 07:32:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2002 (index 36/122) +[05/25 07:32:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:32:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 07:33:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2002 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False +[05/25 07:35:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2002: 1 episodes +[05/25 07:35:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:35:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:35:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2002 +[05/25 07:35:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2002 in 2.70s (batch: 2.60s, save: 0.09s) +[05/25 07:35:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2002 +[05/25 07:35:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2002: 0/1 successful episodes +[05/25 07:35:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2033 (index 37/122) +[05/25 07:35:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:35:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:35:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[05/25 07:35:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2033 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_7 completed with success=True +[05/25 07:35:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2033: 1 episodes +[05/25 07:35:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 07:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:35:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2033 +[05/25 07:35:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2033 in 2.48s (batch: 2.43s, save: 0.06s) +[05/25 07:35:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2033 +[05/25 07:35:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2033: 1/1 successful episodes +[05/25 07:35:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2069 (index 38/122) +[05/25 07:35:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:35:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 07:35:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 07:35:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_8 in scene +[05/25 07:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2069 episode 0 object objabattery_6c270b8def2b4303869ec14484f2ab05_1_0_9 completed with success=False +[05/25 07:37:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2069: 1 episodes +[05/25 07:37:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:37:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:37:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2069 +[05/25 07:37:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2069 in 2.73s (batch: 2.64s, save: 0.10s) +[05/25 07:37:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2069 +[05/25 07:37:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2069: 0/1 successful episodes +[05/25 07:37:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2117 (index 39/122) +[05/25 07:37:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2117 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_5 in scene +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_6 in scene +[05/25 07:38:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2117 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_8 completed with success=True +[05/25 07:38:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2117: 1 episodes +[05/25 07:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 82 timesteps +[05/25 07:38:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:38:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2117 +[05/25 07:38:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2117 in 2.38s (batch: 2.32s, save: 0.06s) +[05/25 07:38:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2117 +[05/25 07:38:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2117: 1/1 successful episodes +[05/25 07:38:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2144 (index 40/122) +[05/25 07:38:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:38:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:38:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:38:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2144 episode 0 object objarollingpin_95b1c036b67a43aab027a8a024fb4c7c_1_0_2 completed with success=True +[05/25 07:38:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2144: 1 episodes +[05/25 07:38:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/25 07:38:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:38:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2144 +[05/25 07:38:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2144 in 2.38s (batch: 2.35s, save: 0.04s) +[05/25 07:38:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2144 +[05/25 07:38:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2144: 1/1 successful episodes +[05/25 07:38:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2196 (index 41/122) +[05/25 07:38:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:38:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:41:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 2196 episode 0 object objawrench_af1e03fb8b2a4bc79e9f774a6c03f248_1_0_2 completed with success=False +[05/25 07:41:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2196: 1 episodes +[05/25 07:41:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:41:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:41:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2196 +[05/25 07:41:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2196 in 3.10s (batch: 3.00s, save: 0.10s) +[05/25 07:41:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2196 +[05/25 07:41:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2196: 0/1 successful episodes +[05/25 07:41:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2220 (index 42/122) +[05/25 07:41:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:41:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 07:41:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +[05/25 07:41:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_3 in scene +[05/25 07:41:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2220 episode 0 object objatoytram_832be807365c49d5b6cb9844c4aa66f8_1_0_5 completed with success=False +[05/25 07:43:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2220: 1 episodes +[05/25 07:43:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:43:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2220 +[05/25 07:43:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2220 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 07:43:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2220 +[05/25 07:43:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2220: 0/1 successful episodes +[05/25 07:43:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2278 (index 43/122) +[05/25 07:43:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:43:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/25 07:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2278 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_3_0_2 completed with success=True +[05/25 07:43:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2278: 1 episodes +[05/25 07:43:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 93 timesteps +[05/25 07:44:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:44:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2278 +[05/25 07:44:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2278 in 2.49s (batch: 2.44s, save: 0.05s) +[05/25 07:44:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2278 +[05/25 07:44:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2278: 1/1 successful episodes +[05/25 07:44:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2319 (index 44/122) +[05/25 07:44:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:44:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 07:44:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:45:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2319 episode 0 object objatorch_6439d269a70a4c7e85afbed53d96581c_1_0_5 completed with success=False +[05/25 07:45:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2319: 1 episodes +[05/25 07:45:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2319 +[05/25 07:46:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2319 in 2.78s (batch: 2.67s, save: 0.11s) +[05/25 07:46:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2319 +[05/25 07:46:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2319: 0/1 successful episodes +[05/25 07:46:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2358 (index 45/122) +[05/25 07:46:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2358 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:46:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_8 in scene +[05/25 07:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:46:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 2358 episode 0 object objaspatula_8780c90f32e241469730b4e470144a91_1_0_8 completed with success=True +[05/25 07:46:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2358: 1 episodes +[05/25 07:46:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/25 07:46:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2358 +[05/25 07:46:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2358 in 2.59s (batch: 2.54s, save: 0.05s) +[05/25 07:46:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2358 +[05/25 07:46:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2358: 1/1 successful episodes +[05/25 07:46:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2399 (index 46/122) +[05/25 07:46:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:46:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 07:47:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:47:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2399 episode 0 object objadecorativepipe_d15cec3c902c43efb2484b0eb0ed707f_1_0_6 completed with success=True +[05/25 07:47:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2399: 1 episodes +[05/25 07:47:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/25 07:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2399 +[05/25 07:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2399 in 2.64s (batch: 2.60s, save: 0.04s) +[05/25 07:47:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2399 +[05/25 07:47:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2399: 1/1 successful episodes +[05/25 07:47:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2419 (index 47/122) +[05/25 07:47:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2419 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 07:47:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:49:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 2419 episode 0 object objawallplate_31f435c400aa4287a077f7690cda74a4_1_0_5 completed with success=False +[05/25 07:50:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2419: 1 episodes +[05/25 07:50:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:50:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:50:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2419 +[05/25 07:50:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2419 in 2.83s (batch: 2.73s, save: 0.10s) +[05/25 07:50:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2419 +[05/25 07:50:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2419: 0/1 successful episodes +[05/25 07:50:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2472 (index 48/122) +[05/25 07:50:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:50:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:50:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:51:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2472 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_2 completed with success=False +[05/25 07:51:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2472: 1 episodes +[05/25 07:51:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:51:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:51:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2472 +[05/25 07:51:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2472 in 2.72s (batch: 2.61s, save: 0.11s) +[05/25 07:51:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2472 +[05/25 07:51:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2472: 0/1 successful episodes +[05/25 07:51:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2512 (index 49/122) +[05/25 07:51:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:51:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:51:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:52:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2512 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_1_0_6 completed with success=True +[05/25 07:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:52:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:54:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2512 episode 1 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_7 completed with success=False +[05/25 07:54:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2512: 2 episodes +[05/25 07:54:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/25 07:54:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:54:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2512 +[05/25 07:54:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2512 in 5.58s (batch: 5.44s, save: 0.14s) +[05/25 07:54:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2512 +[05/25 07:54:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2512: 1/2 successful episodes +[05/25 07:54:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2513 (index 50/122) +[05/25 07:54:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:54:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 07:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_2 in scene +[05/25 07:54:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:56:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2513 episode 0 object objacake_ffd73e3de9754cc695dafd8a382cd01d_1_0_6 completed with success=False +[05/25 07:56:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2513: 1 episodes +[05/25 07:56:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:56:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:56:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2513 +[05/25 07:56:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2513 in 3.13s (batch: 3.02s, save: 0.11s) +[05/25 07:56:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2513 +[05/25 07:56:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2513: 0/1 successful episodes +[05/25 07:56:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2553 (index 51/122) +[05/25 07:56:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:56:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:56:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:59:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2553 episode 0 object objabouquet_9c5bea0d812a459297b805ff7658b7e0_1_0_6 completed with success=False +[05/25 07:59:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2553: 1 episodes +[05/25 07:59:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:59:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:59:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2553 +[05/25 07:59:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2553 in 2.66s (batch: 2.56s, save: 0.10s) +[05/25 07:59:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2553 +[05/25 07:59:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2553: 0/1 successful episodes +[05/25 07:59:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2590 (index 52/122) +[05/25 07:59:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:59:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:59:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:01:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 2590 episode 0 object objaartifact_a87fc6df8620462e80569af2e476f761_1_0_5 completed with success=False +[05/25 08:01:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2590: 1 episodes +[05/25 08:01:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:01:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:01:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2590 +[05/25 08:01:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2590 in 2.65s (batch: 2.55s, save: 0.10s) +[05/25 08:01:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2590 +[05/25 08:01:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2590: 0/1 successful episodes +[05/25 08:01:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2633 (index 53/122) +[05/25 08:01:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2633 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:01:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaequipment_c125c5c1e56840e68ea00068c5216279_1_0_2 in scene +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_3 in scene +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene +[05/25 08:01:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2633 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_2 completed with success=True +[05/25 08:01:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2633: 1 episodes +[05/25 08:01:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/25 08:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2633 +[05/25 08:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2633 in 2.51s (batch: 2.47s, save: 0.04s) +[05/25 08:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2633 +[05/25 08:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2633: 1/1 successful episodes +[05/25 08:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2655 (index 54/122) +[05/25 08:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:01:58 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_3 in scene +[05/25 08:01:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:03:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2655 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_3 completed with success=False +[05/25 08:03:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2655: 1 episodes +[05/25 08:03:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:03:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:03:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2655 +[05/25 08:03:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2655 in 3.00s (batch: 2.90s, save: 0.10s) +[05/25 08:03:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2655 +[05/25 08:03:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2655: 0/1 successful episodes +[05/25 08:03:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2704 (index 55/122) +[05/25 08:03:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:03:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:04:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2704 episode 0 object objagardengnome_2512c6b3e5724d298428decd0f812be8_1_0_6 completed with success=True +[05/25 08:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2704: 1 episodes +[05/25 08:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 08:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:04:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2704 +[05/25 08:04:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2704 in 2.74s (batch: 2.69s, save: 0.05s) +[05/25 08:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2704 +[05/25 08:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2704: 1/1 successful episodes +[05/25 08:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2735 (index 56/122) +[05/25 08:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/25 08:04:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene +[05/25 08:04:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene +[05/25 08:07:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2735 episode 0 object objaspear_0bc11c748cb44ba39d21f657cc91797a_1_0_2 completed with success=False +[05/25 08:07:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2735: 1 episodes +[05/25 08:07:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:07:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:07:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2735 +[05/25 08:07:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2735 in 2.66s (batch: 2.55s, save: 0.12s) +[05/25 08:07:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2735 +[05/25 08:07:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2735: 0/1 successful episodes +[05/25 08:07:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2771 (index 57/122) +[05/25 08:07:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:07:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 in scene +[05/25 08:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_8 in scene +[05/25 08:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2771 episode 0 object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 completed with success=False +[05/25 08:09:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2771: 1 episodes +[05/25 08:09:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:09:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:09:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2771 +[05/25 08:09:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2771 in 3.33s (batch: 3.20s, save: 0.13s) +[05/25 08:09:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2771 +[05/25 08:09:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2771: 0/1 successful episodes +[05/25 08:09:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2819 (index 58/122) +[05/25 08:09:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:09:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 08:10:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:12:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 2819 episode 0 object objashoelast_381a6ac90d194e4bbe49c05e20fa24fd_1_0_4 completed with success=False +[05/25 08:12:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2819: 1 episodes +[05/25 08:12:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:12:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:12:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2819 +[05/25 08:12:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2819 in 2.71s (batch: 2.60s, save: 0.11s) +[05/25 08:12:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2819 +[05/25 08:12:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2819: 0/1 successful episodes +[05/25 08:12:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2854 (index 59/122) +[05/25 08:12:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2854 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:12:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:12:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2854 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_5 completed with success=False +[05/25 08:14:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2854: 1 episodes +[05/25 08:14:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2854 +[05/25 08:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2854 in 2.63s (batch: 2.54s, save: 0.10s) +[05/25 08:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2854 +[05/25 08:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2854: 0/1 successful episodes +[05/25 08:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2885 (index 60/122) +[05/25 08:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/25 08:15:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:17:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 2885 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_8 completed with success=False +[05/25 08:17:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2885: 1 episodes +[05/25 08:17:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:17:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:17:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2885 +[05/25 08:17:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2885 in 2.86s (batch: 2.76s, save: 0.10s) +[05/25 08:17:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2885 +[05/25 08:17:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2885: 0/1 successful episodes +[05/25 08:17:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2932 (index 61/122) +[05/25 08:17:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2932 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:17:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:17:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:19:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 2932 episode 0 object objaarrowhead_fc1d91fa4bdd4407898cbe512c24fe8b_1_0_9 completed with success=False +[05/25 08:20:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2932: 1 episodes +[05/25 08:20:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:20:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:20:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2932 +[05/25 08:20:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2932 in 2.98s (batch: 2.88s, save: 0.10s) +[05/25 08:20:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2932 +[05/25 08:20:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2932: 0/1 successful episodes +[05/25 08:20:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2976 (index 62/122) +[05/25 08:20:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:20:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2976 episode 0 object objatiara_806e2009917d4de7b2911bb536feb687_1_0_7 completed with success=False +[05/25 08:22:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2976: 1 episodes +[05/25 08:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:22:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2976 +[05/25 08:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2976 in 2.86s (batch: 2.75s, save: 0.10s) +[05/25 08:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2976 +[05/25 08:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2976: 0/1 successful episodes +[05/25 08:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3027 (index 63/122) +[05/25 08:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3027 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 08:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 in scene +[05/25 08:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/25 08:22:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:22:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3027 episode 0 object objatoygun_07b3f6bb554c4516a4bfc2bfe4bf0c2b_1_0_4 completed with success=True +[05/25 08:22:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3027: 1 episodes +[05/25 08:22:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/25 08:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:22:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3027 +[05/25 08:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3027 in 2.67s (batch: 2.63s, save: 0.04s) +[05/25 08:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3027 +[05/25 08:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3027: 1/1 successful episodes +[05/25 08:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3060 (index 64/122) +[05/25 08:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3060 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objatorch_48e56d1bf89e46e7bcdccbbb997471f7_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:23:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:23:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3060 episode 0 object objabrooch_43fdfc6ac7b1453c80e1949cc48ee038_1_0_8 completed with success=True +[05/25 08:23:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3060: 1 episodes +[05/25 08:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/25 08:23:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:23:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3060 +[05/25 08:23:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3060 in 2.44s (batch: 2.40s, save: 0.04s) +[05/25 08:23:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3060 +[05/25 08:23:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3060: 1/1 successful episodes +[05/25 08:23:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3105 (index 65/122) +[05/25 08:23:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:23:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_8443411f882f41bfbde99785b22c9503_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_8 in scene +[05/25 08:25:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3105 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_7 completed with success=False +[05/25 08:25:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3105: 1 episodes +[05/25 08:25:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:25:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:25:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3105 +[05/25 08:25:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3105 in 3.10s (batch: 2.98s, save: 0.12s) +[05/25 08:26:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3105 +[05/25 08:26:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3105: 0/1 successful episodes +[05/25 08:26:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3191 (index 66/122) +[05/25 08:26:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:26:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 08:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:28:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3191 episode 0 object objastoneartifact_58a50d12190a4248ba4bbd1f29b8053d_1_0_4 completed with success=False +[05/25 08:28:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3191: 1 episodes +[05/25 08:28:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:28:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:28:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3191 +[05/25 08:28:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3191 in 2.83s (batch: 2.73s, save: 0.09s) +[05/25 08:28:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3191 +[05/25 08:28:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3191: 0/1 successful episodes +[05/25 08:28:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3226 (index 67/122) +[05/25 08:28:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3226 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 08:30:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3226 episode 0 object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 completed with success=False +[05/25 08:30:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3226: 1 episodes +[05/25 08:30:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3226 +[05/25 08:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3226 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 08:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3226 +[05/25 08:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3226: 0/1 successful episodes +[05/25 08:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3246 (index 68/122) +[05/25 08:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 08:31:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3246 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_6 completed with success=True +[05/25 08:31:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3246: 1 episodes +[05/25 08:31:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/25 08:31:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:31:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3246 +[05/25 08:31:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3246 in 2.56s (batch: 2.51s, save: 0.05s) +[05/25 08:31:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3246 +[05/25 08:31:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3246: 1/1 successful episodes +[05/25 08:31:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3276 (index 69/122) +[05/25 08:31:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:31:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:31:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3276 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_5 completed with success=True +[05/25 08:32:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3276: 1 episodes +[05/25 08:32:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/25 08:32:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3276 +[05/25 08:32:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3276 in 2.66s (batch: 2.61s, save: 0.05s) +[05/25 08:32:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3276 +[05/25 08:32:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3276: 1/1 successful episodes +[05/25 08:32:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3316 (index 70/122) +[05/25 08:32:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:32:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 08:32:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/25 08:32:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3316 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_6 completed with success=True +[05/25 08:32:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3316: 1 episodes +[05/25 08:32:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/25 08:32:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3316 +[05/25 08:32:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3316 in 2.58s (batch: 2.53s, save: 0.05s) +[05/25 08:32:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3316 +[05/25 08:32:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3316: 1/1 successful episodes +[05/25 08:32:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3379 (index 71/122) +[05/25 08:32:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:32:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 08:32:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:33:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3379 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_3 completed with success=True +[05/25 08:33:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3379: 1 episodes +[05/25 08:33:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 103 timesteps +[05/25 08:33:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:33:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3379 +[05/25 08:33:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3379 in 2.44s (batch: 2.40s, save: 0.05s) +[05/25 08:33:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3379 +[05/25 08:33:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3379: 1/1 successful episodes +[05/25 08:33:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3423 (index 72/122) +[05/25 08:33:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:33:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 08:33:34 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 08:33:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene +[05/25 08:33:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:35:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 3423 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_8 completed with success=False +[05/25 08:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3423: 1 episodes +[05/25 08:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3423 +[05/25 08:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3423 in 3.02s (batch: 2.89s, save: 0.12s) +[05/25 08:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3423 +[05/25 08:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3423: 0/1 successful episodes +[05/25 08:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3467 (index 73/122) +[05/25 08:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:36:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 08:36:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[05/25 08:38:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3467 episode 0 object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 completed with success=False +[05/25 08:38:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3467: 1 episodes +[05/25 08:39:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:39:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:39:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3467 +[05/25 08:39:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3467 in 2.91s (batch: 2.77s, save: 0.14s) +[05/25 08:39:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3467 +[05/25 08:39:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3467: 0/1 successful episodes +[05/25 08:39:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3501 (index 74/122) +[05/25 08:39:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:39:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 08:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3501 episode 0 object objabulletcartridge_828758a9cb5043e09fc6cbc857ae0c91_1_0_2 completed with success=False +[05/25 08:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3501: 1 episodes +[05/25 08:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:41:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3501 +[05/25 08:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3501 in 2.80s (batch: 2.69s, save: 0.11s) +[05/25 08:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3501 +[05/25 08:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3501: 0/1 successful episodes +[05/25 08:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3531 (index 75/122) +[05/25 08:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:41:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:41:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 in scene +[05/25 08:41:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_3 in scene +[05/25 08:42:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3531 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False +[05/25 08:42:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3531: 1 episodes +[05/25 08:42:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:42:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:42:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3531 +[05/25 08:42:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3531 in 2.64s (batch: 2.53s, save: 0.11s) +[05/25 08:42:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3531 +[05/25 08:42:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3531: 0/1 successful episodes +[05/25 08:42:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3576 (index 76/122) +[05/25 08:42:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:42:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 08:42:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:45:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3576 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 completed with success=False +[05/25 08:45:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3576: 1 episodes +[05/25 08:45:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:45:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3576 +[05/25 08:45:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3576 in 2.82s (batch: 2.72s, save: 0.09s) +[05/25 08:45:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3576 +[05/25 08:45:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3576: 0/1 successful episodes +[05/25 08:45:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 77/122) +[05/25 08:45:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:45:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:45:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=True +[05/25 08:45:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 1 episodes +[05/25 08:45:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 08:45:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3613 +[05/25 08:45:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 2.47s (batch: 2.43s, save: 0.04s) +[05/25 08:45:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/25 08:45:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 1/1 successful episodes +[05/25 08:45:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3647 (index 78/122) +[05/25 08:45:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:45:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene +[05/25 08:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3647 episode 0 object objascissors_e0304800688647d488200a993f1ff930_1_0_8 completed with success=True +[05/25 08:46:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3647: 1 episodes +[05/25 08:46:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 104 timesteps +[05/25 08:46:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:46:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3647 +[05/25 08:46:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3647 in 2.41s (batch: 2.35s, save: 0.06s) +[05/25 08:46:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3647 +[05/25 08:46:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3647: 1/1 successful episodes +[05/25 08:46:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3687 (index 79/122) +[05/25 08:46:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:46:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:46:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:48:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3687 episode 0 object objahandfile_c9f3e71edf624d05a1ac0b2083e6b886_1_0_8 completed with success=False +[05/25 08:48:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3687: 1 episodes +[05/25 08:48:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:48:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:48:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3687 +[05/25 08:48:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3687 in 2.90s (batch: 2.81s, save: 0.10s) +[05/25 08:48:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3687 +[05/25 08:48:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3687: 0/1 successful episodes +[05/25 08:48:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 80/122) +[05/25 08:48:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:48:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:49:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objatoyblaster_b72ce13805f24d729e6cbd54789a93a1_1_0_6 completed with success=True +[05/25 08:49:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/25 08:49:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/25 08:49:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:49:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3725 +[05/25 08:49:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 2.41s (batch: 2.37s, save: 0.04s) +[05/25 08:49:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/25 08:49:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 1/1 successful episodes +[05/25 08:49:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3769 (index 81/122) +[05/25 08:49:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3769 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:49:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/25 08:51:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3769 episode 0 object objastirrup_8732e5243857451ba4a3447c1eec0771_1_0_3 completed with success=False +[05/25 08:51:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3769: 1 episodes +[05/25 08:51:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:51:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:51:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3769 +[05/25 08:51:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3769 in 3.09s (batch: 2.98s, save: 0.12s) +[05/25 08:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3769 +[05/25 08:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3769: 0/1 successful episodes +[05/25 08:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3818 (index 82/122) +[05/25 08:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +[05/25 08:51:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:54:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 3818 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_8 completed with success=False +[05/25 08:54:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3818: 1 episodes +[05/25 08:54:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3818 +[05/25 08:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3818 in 2.78s (batch: 2.68s, save: 0.10s) +[05/25 08:54:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3818 +[05/25 08:54:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3818: 0/1 successful episodes +[05/25 08:54:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3826 (index 83/122) +[05/25 08:54:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:54:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 08:56:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3826 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_4 completed with success=False +[05/25 08:56:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 08:57:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3826 episode 1 object objaemblem_3e1c1466187846d9bb64c15f5c6f8396_1_0_9 completed with success=True +[05/25 08:57:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3826: 2 episodes +[05/25 08:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/25 08:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:57:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3826 +[05/25 08:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3826 in 5.23s (batch: 5.09s, save: 0.13s) +[05/25 08:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3826 +[05/25 08:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3826: 1/2 successful episodes +[05/25 08:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3851 (index 84/122) +[05/25 08:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3851 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetext_ad485cfd217c41ab8c8ddef5ea2087b2_1_0_6 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_56a0e72f08658c16519ab66e688eb292_1_0_6 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_7 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/25 08:57:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:59:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3851 episode 0 object objaidholder_588bfc656c634b298db26d81c51fff93_1_0_8 completed with success=False +[05/25 08:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3851: 1 episodes +[05/25 08:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:59:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:59:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3851 +[05/25 08:59:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3851 in 2.99s (batch: 2.86s, save: 0.13s) +[05/25 08:59:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3851 +[05/25 08:59:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3851: 0/1 successful episodes +[05/25 08:59:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3880 (index 85/122) +[05/25 08:59:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:59:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:59:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:02:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3880 episode 0 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_2 completed with success=False +[05/25 09:02:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3880: 1 episodes +[05/25 09:02:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:02:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:02:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3880 +[05/25 09:02:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3880 in 2.68s (batch: 2.59s, save: 0.09s) +[05/25 09:02:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3880 +[05/25 09:02:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3880: 0/1 successful episodes +[05/25 09:02:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3902 (index 86/122) +[05/25 09:02:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:02:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 09:02:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:04:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3902 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_7 completed with success=False +[05/25 09:04:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3902: 1 episodes +[05/25 09:04:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:04:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:04:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3902 +[05/25 09:04:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3902 in 2.97s (batch: 2.85s, save: 0.12s) +[05/25 09:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3902 +[05/25 09:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3902: 0/1 successful episodes +[05/25 09:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3928 (index 87/122) +[05/25 09:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 09:04:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 3928 episode 0 object objafilmcamera_b18e3c3a8d104a048d72737e02f7a490_1_0_6 completed with success=False +[05/25 09:06:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3928: 1 episodes +[05/25 09:06:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3928 +[05/25 09:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3928 in 2.79s (batch: 2.68s, save: 0.10s) +[05/25 09:06:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3928 +[05/25 09:06:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3928: 0/1 successful episodes +[05/25 09:06:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3971 (index 88/122) +[05/25 09:06:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:06:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 09:09:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3971 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False +[05/25 09:09:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3971: 1 episodes +[05/25 09:09:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:09:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:09:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3971 +[05/25 09:09:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3971 in 2.75s (batch: 2.65s, save: 0.10s) +[05/25 09:09:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3971 +[05/25 09:09:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3971: 0/1 successful episodes +[05/25 09:09:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4004 (index 89/122) +[05/25 09:09:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 09:09:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:11:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4004 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False +[05/25 09:11:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4004: 1 episodes +[05/25 09:11:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:11:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:11:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4004 +[05/25 09:11:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4004 in 2.93s (batch: 2.82s, save: 0.11s) +[05/25 09:11:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4004 +[05/25 09:11:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4004: 0/1 successful episodes +[05/25 09:11:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 90/122) +[05/25 09:11:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:11:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 09:11:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +[05/25 09:11:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:13:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False +[05/25 09:13:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/25 09:13:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:13:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4041 +[05/25 09:13:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.75s (batch: 2.62s, save: 0.13s) +[05/25 09:13:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/25 09:13:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/25 09:13:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4106 (index 91/122) +[05/25 09:13:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4106 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:13:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 09:13:27 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/25 09:13:27 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_5 in scene +[05/25 09:13:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:13:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4106 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_4 completed with success=True +[05/25 09:13:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4106: 1 episodes +[05/25 09:13:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/25 09:13:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4106 +[05/25 09:13:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4106 in 2.56s (batch: 2.51s, save: 0.04s) +[05/25 09:13:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4106 +[05/25 09:13:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4106: 1/1 successful episodes +[05/25 09:13:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 92/122) +[05/25 09:13:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:13:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 09:14:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/25 09:14:04 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[05/25 09:14:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=True +[05/25 09:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/25 09:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 09:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4158 +[05/25 09:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 2.26s (batch: 2.23s, save: 0.03s) +[05/25 09:14:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/25 09:14:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 1/1 successful episodes +[05/25 09:14:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 93/122) +[05/25 09:14:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:14:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:14:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:14:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=True +[05/25 09:14:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/25 09:14:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 09:14:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4205 +[05/25 09:14:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 2.40s (batch: 2.36s, save: 0.04s) +[05/25 09:14:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/25 09:14:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 1/1 successful episodes +[05/25 09:14:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 94/122) +[05/25 09:14:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:14:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 09:14:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=True +[05/25 09:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes +[05/25 09:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/25 09:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4270 +[05/25 09:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 2.54s (batch: 2.48s, save: 0.06s) +[05/25 09:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270 +[05/25 09:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 1/1 successful episodes +[05/25 09:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4315 (index 95/122) +[05/25 09:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4315 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 09:15:34 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaictile_dbcfc351ce14458bae5d475a7727ac54_1_0_7 in scene +[05/25 09:15:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:16:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4315 episode 0 object objacheese_1e260037ef3a403ea4da2f78a643dcb6_1_0_6 completed with success=True +[05/25 09:16:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4315: 1 episodes +[05/25 09:16:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 124 timesteps +[05/25 09:16:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:16:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4315 +[05/25 09:16:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4315 in 2.45s (batch: 2.41s, save: 0.05s) +[05/25 09:16:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4315 +[05/25 09:16:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4315: 1/1 successful episodes +[05/25 09:16:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 96/122) +[05/25 09:16:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:16:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 09:16:24 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/25 09:16:24 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 09:18:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_7 completed with success=False +[05/25 09:18:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/25 09:18:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:18:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:18:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4372 +[05/25 09:18:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.79s (batch: 2.70s, save: 0.09s) +[05/25 09:18:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/25 09:18:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/25 09:18:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4404 (index 97/122) +[05/25 09:18:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 09:18:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:20:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4404 episode 0 object objadecorativedoll_0db864e5ae514cd78da9d8a60422edf9_1_0_3 completed with success=False +[05/25 09:20:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4404: 1 episodes +[05/25 09:20:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:20:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:20:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4404 +[05/25 09:20:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4404 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 09:20:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4404 +[05/25 09:20:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4404: 0/1 successful episodes +[05/25 09:20:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4460 (index 98/122) +[05/25 09:20:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:20:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 09:22:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4460 episode 0 object objahinge_b94d0e132cdd47589cc382d80c29eff8_1_0_2 completed with success=False +[05/25 09:22:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4460: 1 episodes +[05/25 09:22:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:22:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:22:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4460 +[05/25 09:22:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4460 in 2.90s (batch: 2.80s, save: 0.10s) +[05/25 09:22:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4460 +[05/25 09:22:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4460: 0/1 successful episodes +[05/25 09:22:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 99/122) +[05/25 09:22:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:22:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 09:22:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:24:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False +[05/25 09:25:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes +[05/25 09:25:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:25:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:25:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4500 +[05/25 09:25:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 09:25:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500 +[05/25 09:25:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes +[05/25 09:25:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4552 (index 100/122) +[05/25 09:25:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:25:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 09:25:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4552 episode 0 object objatoyhelicopter_3a766d9cc0484f1993dd8dc658b81181_1_0_8 completed with success=True +[05/25 09:25:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4552: 1 episodes +[05/25 09:25:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 09:25:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:25:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4552 +[05/25 09:25:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4552 in 2.49s (batch: 2.46s, save: 0.04s) +[05/25 09:25:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4552 +[05/25 09:25:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4552: 1/1 successful episodes +[05/25 09:25:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4581 (index 101/122) +[05/25 09:25:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:25:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 09:27:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4581 episode 0 object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5 completed with success=False +[05/25 09:27:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4581: 1 episodes +[05/25 09:27:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:27:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:27:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4581 +[05/25 09:27:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4581 in 2.78s (batch: 2.66s, save: 0.12s) +[05/25 09:27:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4581 +[05/25 09:27:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4581: 0/1 successful episodes +[05/25 09:27:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4656 (index 102/122) +[05/25 09:27:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:27:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 09:27:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:28:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4656 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=True +[05/25 09:28:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4656: 1 episodes +[05/25 09:28:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/25 09:28:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:28:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4656 +[05/25 09:28:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4656 in 2.42s (batch: 2.36s, save: 0.06s) +[05/25 09:28:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4656 +[05/25 09:28:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4656: 1/1 successful episodes +[05/25 09:28:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4721 (index 103/122) +[05/25 09:28:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:28:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4721 episode 0 object objabottlecap_d47d2f5bc5fd4af890cec03b9d8613ff_1_0_6 completed with success=False +[05/25 09:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4721: 1 episodes +[05/25 09:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4721 +[05/25 09:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4721 in 2.58s (batch: 2.46s, save: 0.12s) +[05/25 09:30:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4721 +[05/25 09:30:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4721: 0/1 successful episodes +[05/25 09:30:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4760 (index 104/122) +[05/25 09:30:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4760 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:30:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objataxidermybird_74899b53418345d38a5159913215384f_1_0_4 in scene +[05/25 09:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:30:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4760 episode 0 object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_4 completed with success=True +[05/25 09:30:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4760: 1 episodes +[05/25 09:30:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/25 09:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4760 +[05/25 09:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4760 in 2.49s (batch: 2.44s, save: 0.05s) +[05/25 09:30:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4760 +[05/25 09:30:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4760: 1/1 successful episodes +[05/25 09:30:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4812 (index 105/122) +[05/25 09:30:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4812 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:30:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_3 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_3 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objasubmarine_c5fe51ccf7c5427b98afa3799a341931_2_0_6 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objabulletcasing_994975e1ffc846e9b7df8ea7bdeee0cb_1_0_6 in scene +[05/25 09:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4812 episode 0 object objapipette_0ac026b437314112ad8a72471425d47f_1_0_7 completed with success=True +[05/25 09:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4812: 1 episodes +[05/25 09:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/25 09:31:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:31:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4812 +[05/25 09:31:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4812 in 2.48s (batch: 2.43s, save: 0.05s) +[05/25 09:31:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4812 +[05/25 09:31:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4812: 1/1 successful episodes +[05/25 09:31:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4861 (index 106/122) +[05/25 09:31:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:31:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +[05/25 09:31:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene +[05/25 09:31:48 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_a231a75666b04ec382be5c12ff7a554b_1_0_9 in scene +[05/25 09:31:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:34:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4861 episode 0 object objametalplate_a0d9d68e339540b2ac14bd11b2d5e519_1_0_2 completed with success=False +[05/25 09:34:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4861: 1 episodes +[05/25 09:34:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:34:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:34:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4861 +[05/25 09:34:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4861 in 3.26s (batch: 3.16s, save: 0.10s) +[05/25 09:34:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4861 +[05/25 09:34:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4861: 0/1 successful episodes +[05/25 09:34:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4921 (index 107/122) +[05/25 09:34:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4921 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:34:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 09:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:36:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4921 episode 0 object vase_61e70bb516f7e79bff61fcd075396cae_1_0_6 completed with success=False +[05/25 09:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4921: 1 episodes +[05/25 09:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:36:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:36:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4921 +[05/25 09:36:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4921 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 09:36:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4921 +[05/25 09:36:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4921: 0/1 successful episodes +[05/25 09:36:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4969 (index 108/122) +[05/25 09:36:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:36:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 in scene +[05/25 09:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +[05/25 09:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4969 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_2 completed with success=False +[05/25 09:39:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4969: 1 episodes +[05/25 09:39:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:39:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:39:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4969 +[05/25 09:39:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4969 in 3.22s (batch: 3.10s, save: 0.12s) +[05/25 09:39:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4969 +[05/25 09:39:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4969: 0/1 successful episodes +[05/25 09:39:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5007 (index 109/122) +[05/25 09:39:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:39:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 09:39:16 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene +[05/25 09:39:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5007 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_6 completed with success=True +[05/25 09:39:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5007: 1 episodes +[05/25 09:39:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 09:39:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:39:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5007 +[05/25 09:39:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5007 in 2.56s (batch: 2.47s, save: 0.09s) +[05/25 09:39:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5007 +[05/25 09:39:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5007: 1/1 successful episodes +[05/25 09:39:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5032 (index 110/122) +[05/25 09:39:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:39:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:39:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_3 in scene +[05/25 09:39:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:41:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5032 episode 0 object objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_4 completed with success=False +[05/25 09:42:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5032: 1 episodes +[05/25 09:42:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:42:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:42:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5032 +[05/25 09:42:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5032 in 2.60s (batch: 2.50s, save: 0.10s) +[05/25 09:42:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5032 +[05/25 09:42:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5032: 0/1 successful episodes +[05/25 09:42:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5071 (index 111/122) +[05/25 09:42:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5071 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:42:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 09:42:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5071 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 completed with success=True +[05/25 09:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5071: 1 episodes +[05/25 09:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/25 09:42:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:42:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5071 +[05/25 09:42:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5071 in 2.28s (batch: 2.25s, save: 0.04s) +[05/25 09:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5071 +[05/25 09:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5071: 1/1 successful episodes +[05/25 09:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5126 (index 112/122) +[05/25 09:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 09:42:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_6 in scene +[05/25 09:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5126 episode 0 object objaskull_a08bf8b5a9df42d9895a78056393bb84_1_0_3 completed with success=False +[05/25 09:44:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5126: 1 episodes +[05/25 09:44:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:44:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5126 +[05/25 09:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5126 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 09:44:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5126 +[05/25 09:44:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5126: 0/1 successful episodes +[05/25 09:44:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5154 (index 113/122) +[05/25 09:44:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5154 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:44:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 09:44:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/25 09:44:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_5e89ddbfc6454e2e8e09c645574b8932_1_0_9 in scene +[05/25 09:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:47:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5154 episode 0 object objaskigoggles_29bf30fb9c4d43548106c095505054a2_1_0_6 completed with success=False +[05/25 09:47:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5154: 1 episodes +[05/25 09:47:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:47:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:47:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5154 +[05/25 09:47:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5154 in 2.67s (batch: 2.58s, save: 0.10s) +[05/25 09:47:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5154 +[05/25 09:47:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5154: 0/1 successful episodes +[05/25 09:47:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5201 (index 114/122) +[05/25 09:47:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:47:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/25 09:47:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:49:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 5201 episode 0 object objahandheldtool_6a9923f0915d4945be0066b78487b112_1_0_7 completed with success=False +[05/25 09:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5201: 1 episodes +[05/25 09:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:49:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:49:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5201 +[05/25 09:49:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5201 in 2.92s (batch: 2.82s, save: 0.10s) +[05/25 09:49:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5201 +[05/25 09:49:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5201: 0/1 successful episodes +[05/25 09:49:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5234 (index 115/122) +[05/25 09:49:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:49:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 09:49:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:51:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5234 episode 0 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_4 completed with success=False +[05/25 09:51:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5234: 1 episodes +[05/25 09:51:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:51:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:51:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5234 +[05/25 09:51:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5234 in 3.45s (batch: 3.27s, save: 0.18s) +[05/25 09:51:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5234 +[05/25 09:51:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5234: 0/1 successful episodes +[05/25 09:51:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5266 (index 116/122) +[05/25 09:51:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:51:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:51:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:53:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False +[05/25 09:53:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5266: 1 episodes +[05/25 09:53:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:54:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5266 +[05/25 09:54:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5266 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 09:54:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5266 +[05/25 09:54:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5266: 0/1 successful episodes +[05/25 09:54:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5296 (index 117/122) +[05/25 09:54:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:54:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:54:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:56:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 5296 episode 0 object objaremotecontrol_35714aa2b0cd430a8b8e688e7daa4df3_1_0_7 completed with success=False +[05/25 09:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5296: 1 episodes +[05/25 09:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5296 +[05/25 09:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5296 in 2.83s (batch: 2.72s, save: 0.10s) +[05/25 09:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5296 +[05/25 09:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5296: 0/1 successful episodes +[05/25 09:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5321 (index 118/122) +[05/25 09:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:56:12 Worker 0 WARNING object_manager.py:1238] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_2 in scene +[05/25 09:58:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5321 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_2 completed with success=False +[05/25 09:58:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5321: 1 episodes +[05/25 09:58:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:58:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:58:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5321 +[05/25 09:58:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5321 in 3.15s (batch: 3.02s, save: 0.13s) +[05/25 09:58:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5321 +[05/25 09:58:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5321: 0/1 successful episodes +[05/25 09:58:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 119/122) +[05/25 09:58:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:58:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 09:58:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/25 09:58:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +[05/25 10:00:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objamolding_196153b6712d4e63a3dd341bcd97b690_1_0_4 completed with success=False +[05/25 10:00:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes +[05/25 10:00:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5359 +[05/25 10:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.80s (batch: 2.70s, save: 0.11s) +[05/25 10:00:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359 +[05/25 10:00:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes +[05/25 10:00:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 120/122) +[05/25 10:00:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 10:00:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/25 10:00:59 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/25 10:00:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[05/25 10:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/25 10:03:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/25 10:03:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:03:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:03:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5417 +[05/25 10:03:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.93s (batch: 2.83s, save: 0.10s) +[05/25 10:03:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/25 10:03:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/25 10:03:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5455 (index 121/122) +[05/25 10:03:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 10:03:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 10:03:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:04:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5455 episode 0 object objatray_80f3e8ff021f4f298807123b17f968d8_1_0_2 completed with success=True +[05/25 10:04:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5455: 1 episodes +[05/25 10:04:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/25 10:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:04:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5455 +[05/25 10:04:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5455 in 2.57s (batch: 2.53s, save: 0.04s) +[05/25 10:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5455 +[05/25 10:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5455: 1/1 successful episodes +[05/25 10:04:07 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/25 10:04:08 INFO pipeline.py:1496] Completed 122 houses, skipped 0 houses +[05/25 10:04:08 INFO pipeline.py:1499] Success count: 39, Total count: 125 +[05/25 10:04:08 INFO pipeline.py:1500] Success rate: 31.20% +Combined 125 episodes from 122 files → /tmp/tmp6nr_tnan.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv at-end: 31.2% | oracle: 31.2% of 125 episodes +[2026-05-25 10:04:21,751] INFO MolmoSpaces simulator eval finished: success=39/125 rate=0.3120 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval +[2026-05-25 10:04:21,751] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv diff --git a/pick_randcam/pick_randcam/shards/shard_07/eval/eval_meta.json b/pick_randcam/pick_randcam/shards/shard_07/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd38c63e28fb8322f64b8f5769ab8264abc0005 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv" +} diff --git a/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv b/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..a1f53a35d6401927aba115afb50688cce49a7b28 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv @@ -0,0 +1,127 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.645856,0.0 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.808836,0.0 +latest,Knife,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.19874,0.0 +latest,Objaanemometer,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,105.055536,0.0 +latest,Objaapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,206.372974,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,162.125068,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.973769,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.869607,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.441529,0.0 +latest,Objabeltbuckle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.342499,0.0 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.482082,0.0 +latest,Objabottlecap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,100.005291,0.0 +latest,Objabouquet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.524849,0.0 +latest,Objabrooch,2,2,100.0,29.24,99.16,2,100.0,29.24,99.16,40.180803,15.155407 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.929649,0.0 +latest,Objacabinethinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,130.274993,0.0 +latest,Objacake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.173657,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.006174,0.0 +latest,Objacheese,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.886449,0.0 +latest,Objachocolatebar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,72.553399,0.0 +latest,Objaclaypot,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,138.139614,0.0 +latest,Objaclothesiron,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,134.095866,0.0 +latest,Objacoilspring,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,137.205758,0.0 +latest,Objacollar,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,115.761342,19.747579 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.984499,0.0 +latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.802472,0.0 +latest,Objadecorativeartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.420263,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.811046,0.0 +latest,Objadecorativeblades,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,76.992577,0.0 +latest,Objadecorativebranch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,180.945369,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.721622,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344415,0.0 +latest,Objadecorativechain,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.438406,0.0 +latest,Objadecorativedoll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.042026,0.0 +latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.925283,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.907788,0.0 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"task_description": "Pick up the ingot", "object_name": "objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4581/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4656", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the album", "object_name": "objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4656/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4721", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round black plastic bottle cap", "object_name": "objabottlecap_d47d2f5bc5fd4af890cec03b9d8613ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4721/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4760", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 100, "task_description": "Pick up the metal brooch", "object_name": "objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4760/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4812", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 75, "task_description": "Pick up the pipet", "object_name": "objapipette_0ac026b437314112ad8a72471425d47f_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4812/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_484", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the rustic clay pot", "object_name": "objaclaypot_59f804616d3a43efb1c01c5e51d84ec5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_484/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4861", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved metal plate", "object_name": "objametalplate_a0d9d68e339540b2ac14bd11b2d5e519_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4861/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4921", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green vase with narrow neck", "object_name": "vase_61e70bb516f7e79bff61fcd075396cae_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4921/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4969", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the weathered metal vintage megaphone with handle", "object_name": "objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5007", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the black leather spiked collar", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5007/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5032", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white modular connector with clamps", "object_name": "objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5032/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5071", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the belt buckle", "object_name": "objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5071/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige skull", "object_name": "objaskull_a08bf8b5a9df42d9895a78056393bb84_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5126/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5154", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the skigoggles", "object_name": "objaskigoggles_29bf30fb9c4d43548106c095505054a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5154/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5201", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tool", "object_name": "objahandheldtool_6a9923f0915d4945be0066b78487b112_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5201/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5234", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the terracotta greek kylix cup", "object_name": "objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5234/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage desk calendar with handle", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5296", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote control with colored buttons", "object_name": "objaremotecontrol_35714aa2b0cd430a8b8e688e7daa4df3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5296/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5321", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy u-shaped blue and red magnet", "object_name": "objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5321/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long brown wooden molding with jagged edge", "object_name": "objamolding_196153b6712d4e63a3dd341bcd97b690_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5417", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden handle handbell", "object_name": "objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5417/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5455", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the beige and white tray", "object_name": "objatray_80f3e8ff021f4f298807123b17f968d8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5455/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_randcam/pick_randcam/shards/shard_07/submission/eval.log b/pick_randcam/pick_randcam/shards/shard_07/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..80f6ab5d4193b2beb647926117edb885921ac06a --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/submission/eval.log @@ -0,0 +1,3983 @@ +[2026-05-25 06:17:08,835] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-25 06:17:08,869] INFO Selected MuJoCo backend: egl +[2026-05-25 06:17:08,905] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 (source=arg) +[2026-05-25 06:17:11,219] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-25 06:17:20,757] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-25 06:21:39,627] INFO Using save_video_sensors=['__none__'] +[2026-05-25 06:21:44,334] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-25 06:21:44,399] INFO Using explicit task_horizon override: 450 steps +[05/25 06:21:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-25 06:21:44,456] INFO JsonEvalRunner initialized: 122 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:21:44 INFO pipeline.py:1279] Starting house-by-house rollout of 122 houses with 2 episodes each (244 total episodes) using 1 worker processes +[05/25 06:21:44 INFO pipeline.py:1286] Evaluation configuration: +[05/25 06:21:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['randomized_zed2_analogue_1', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'randomized_zed2_analogue_1', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 13, + 124, + 176, + 213, + 268, + 336, + 384, + 431, + 454, + 484, + 1011, + 1044, + 1087, + 1118, + 1188, + 1237, + 1277, + 1304, + 1334, + 1359, + 1385, + 1459, + 1504, + 1567, + 1585, + 1625, + 1655, + 1703, + 1729, + 1775, + 1822, + 1878, + 1912, + 1945, + 1972, + 2002, + 2033, + 2069, + 2117, + 2144, + 2196, + 2220, + 2278, + 2319, + 2358, + 2399, + 2419, + 2472, + 2512, + 2513, + 2553, + 2590, + 2633, + 2655, + 2704, + 2735, + 2771, + 2819, + 2854, + 2885, + 2932, + 2976, + 3027, + 3060, + 3105, + 3191, + 3226, + 3246, + 3276, + 3316, + 3379, + 3423, + 3467, + 3501, + 3531, + 3576, + 3613, + 3647, + 3687, + 3725, + 3769, + 3818, + 3826, + 3851, + 3880, + 3902, + 3928, + 3971, + 4004, + 4041, + 4106, + 4158, + 4205, + 4270, + 4315, + 4372, + 4404, + 4460, + 4500, + 4552, + 4581, + 4656, + 4721, + 4760, + 4812, + 4861, + 4921, + 4969, + 5007, + 5032, + 5071, + 5126, + 5154, + 5201, + 5234, + 5266, + 5296, + 5321, + 5359, + 5417, + 5455], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-25 06:21:44,465] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +[05/25 06:21:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/25 06:21:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/25 06:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4 (index 0/122) +[05/25 06:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +2026-05-25 06:21:58.239 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-25 06:21:59,252] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-25 06:21:59,689] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-25 06:22:00,638] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-25 06:22:00,844] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-25 06:22:00,847] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/25 06:22:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:24:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 0 object objadecorativeelement_223af6ac11154e938314733f5d0a4128_1_0_7 completed with success=False +[05/25 06:24:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4: 1 episodes +[05/25 06:24:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:24:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:24:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4 +[05/25 06:24:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4 in 2.95s (batch: 2.85s, save: 0.10s) +[05/25 06:24:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4 +[05/25 06:24:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4: 0/1 successful episodes +[05/25 06:24:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 13 (index 1/122) +[05/25 06:24:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 13 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:24:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 06:25:05 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_9cb18a2bb2734bacbbab6a15af4acc95_1_0_8 in scene +[05/25 06:25:05 Worker 0 WARNING object_manager.py:1238] Could not find object plate_838def382388bb29da57a8cddc03b072_1_0_8 in scene +[05/25 06:25:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:27:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_9 completed with success=False +[05/25 06:27:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_13: 1 episodes +[05/25 06:27:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:27:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:27:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_13 +[05/25 06:27:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_13 in 2.76s (batch: 2.64s, save: 0.12s) +[05/25 06:27:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_13 +[05/25 06:27:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 13: 0/1 successful episodes +[05/25 06:27:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 124 (index 2/122) +[05/25 06:27:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:27:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 06:29:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 124 episode 0 object objadecorativebranch_cc4727786341414f8398e1a40ac13a75_1_0_2 completed with success=False +[05/25 06:29:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_124: 1 episodes +[05/25 06:29:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:29:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:29:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_124 +[05/25 06:29:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_124 in 2.61s (batch: 2.52s, save: 0.09s) +[05/25 06:29:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_124 +[05/25 06:29:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 124: 0/1 successful episodes +[05/25 06:29:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 176 (index 3/122) +[05/25 06:29:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 176 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:29:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 06:29:24 Worker 0 WARNING object_manager.py:1238] Could not find object box_99992203579ebcc1c3794f83f3a3cbe3_1_0_3 in scene +[05/25 06:29:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 0 object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_3 completed with success=False +[05/25 06:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_176: 1 episodes +[05/25 06:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_176 +[05/25 06:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_176 in 3.05s (batch: 2.93s, save: 0.12s) +[05/25 06:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_176 +[05/25 06:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 176: 0/1 successful episodes +[05/25 06:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 213 (index 4/122) +[05/25 06:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/25 06:33:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 213 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/25 06:33:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_213: 1 episodes +[05/25 06:33:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:33:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:33:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_213 +[05/25 06:33:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_213 in 3.11s (batch: 2.93s, save: 0.18s) +[05/25 06:33:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_213 +[05/25 06:33:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 213: 0/1 successful episodes +[05/25 06:33:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 268 (index 5/122) +[05/25 06:33:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 268 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:33:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 06:33:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:35:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 268 episode 0 object objamountingbracket_61d93824512b4446be5195ab592ae138_1_0_2 completed with success=False +[05/25 06:35:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_268: 1 episodes +[05/25 06:35:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:35:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:35:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_268 +[05/25 06:35:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_268 in 3.03s (batch: 2.91s, save: 0.12s) +[05/25 06:35:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_268 +[05/25 06:35:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 268: 0/1 successful episodes +[05/25 06:35:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 336 (index 6/122) +[05/25 06:35:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:35:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/25 06:38:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 336 episode 0 object objastake_560fbea9661941a5a5b9bcc8383849ea_1_0_8 completed with success=False +[05/25 06:38:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_336: 1 episodes +[05/25 06:38:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:38:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:38:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_336 +[05/25 06:38:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_336 in 2.71s (batch: 2.60s, save: 0.11s) +[05/25 06:38:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_336 +[05/25 06:38:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 336: 0/1 successful episodes +[05/25 06:38:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 384 (index 7/122) +[05/25 06:38:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:38:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 06:38:41 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalart_15d28a35f51d40b5b8483db4e53af2b7_1_0_8 in scene +[05/25 06:38:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:40:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 0 object objadecorativeartifact_736840eeb3154bcb91ddb67a221ae993_1_0_5 completed with success=False +[05/25 06:40:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_384: 1 episodes +[05/25 06:40:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:40:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:40:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_384 +[05/25 06:40:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_384 in 2.91s (batch: 2.81s, save: 0.10s) +[05/25 06:40:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_384 +[05/25 06:40:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 384: 0/1 successful episodes +[05/25 06:40:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 431 (index 8/122) +[05/25 06:40:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:40:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 06:40:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:43:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 431 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False +[05/25 06:43:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_431: 1 episodes +[05/25 06:43:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:43:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_431 +[05/25 06:43:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_431 in 2.78s (batch: 2.65s, save: 0.13s) +[05/25 06:43:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_431 +[05/25 06:43:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 431: 0/1 successful episodes +[05/25 06:43:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 454 (index 9/122) +[05/25 06:43:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:43:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene +[05/25 06:43:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +[05/25 06:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 454 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_1_0_6 completed with success=True +[05/25 06:43:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_454: 1 episodes +[05/25 06:43:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/25 06:43:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:43:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_454 +[05/25 06:43:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_454 in 2.66s (batch: 2.61s, save: 0.05s) +[05/25 06:43:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_454 +[05/25 06:43:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 454: 1/1 successful episodes +[05/25 06:43:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 484 (index 10/122) +[05/25 06:43:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:43:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/25 06:43:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:43:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 484 episode 0 object objaclaypot_59f804616d3a43efb1c01c5e51d84ec5_1_0_2 completed with success=True +[05/25 06:44:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_484: 1 episodes +[05/25 06:44:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/25 06:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:44:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_484 +[05/25 06:44:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_484 in 2.37s (batch: 2.33s, save: 0.03s) +[05/25 06:44:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_484 +[05/25 06:44:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 484: 1/1 successful episodes +[05/25 06:44:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1011 (index 11/122) +[05/25 06:44:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1011 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:44:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/25 06:44:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 1011 episode 0 object objacabinethinge_7c01ff16582a44b99ff7bc6bd4f43eea_1_0_2 completed with success=False +[05/25 06:45:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1011: 1 episodes +[05/25 06:45:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:45:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:45:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1011 +[05/25 06:45:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1011 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 06:45:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1011 +[05/25 06:45:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1011: 0/1 successful episodes +[05/25 06:45:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1044 (index 12/122) +[05/25 06:45:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:45:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:45:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:48:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 1044 episode 0 object objaglove_4acd6e81122542a58a9da9695185a231_1_0_7 completed with success=False +[05/25 06:48:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1044: 1 episodes +[05/25 06:48:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:48:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:48:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1044 +[05/25 06:48:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1044 in 2.81s (batch: 2.70s, save: 0.11s) +[05/25 06:48:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1044 +[05/25 06:48:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1044: 0/1 successful episodes +[05/25 06:48:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1087 (index 13/122) +[05/25 06:48:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:48:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 06:48:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1087 episode 0 object objaapple_fddd771429044d859611f2007e57b2a1_1_0_2 completed with success=False +[05/25 06:50:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1087: 1 episodes +[05/25 06:50:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:50:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1087 +[05/25 06:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1087 in 3.03s (batch: 2.91s, save: 0.12s) +[05/25 06:50:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1087 +[05/25 06:50:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1087: 0/1 successful episodes +[05/25 06:50:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1118 (index 14/122) +[05/25 06:50:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:50:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:53:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 1118 episode 0 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_4 completed with success=False +[05/25 06:53:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1118: 1 episodes +[05/25 06:53:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:53:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:53:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1118 +[05/25 06:53:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1118 in 2.93s (batch: 2.82s, save: 0.11s) +[05/25 06:53:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1118 +[05/25 06:53:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1118: 0/1 successful episodes +[05/25 06:53:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1188 (index 15/122) +[05/25 06:53:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:53:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 06:53:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 06:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 1188 episode 0 object objadecorativeknob_e4ebb7a0afb94b618583f2c6bb2ddab4_1_0_6 completed with success=False +[05/25 06:55:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1188: 1 episodes +[05/25 06:55:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:55:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:55:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1188 +[05/25 06:55:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1188 in 3.20s (batch: 3.10s, save: 0.09s) +[05/25 06:55:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1188 +[05/25 06:55:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1188: 0/1 successful episodes +[05/25 06:55:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1237 (index 16/122) +[05/25 06:55:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:55:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 06:56:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1237 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 completed with success=True +[05/25 06:56:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1237: 1 episodes +[05/25 06:56:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 06:56:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:56:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1237 +[05/25 06:56:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1237 in 2.51s (batch: 2.47s, save: 0.04s) +[05/25 06:56:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1237 +[05/25 06:56:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1237: 1/1 successful episodes +[05/25 06:56:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1277 (index 17/122) +[05/25 06:56:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:56:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 06:58:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1277 episode 0 object objaremotecontrol_f130817ddede45b5acd1d78f7af099d0_1_0_6 completed with success=False +[05/25 06:58:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1277: 1 episodes +[05/25 06:58:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 06:58:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 06:58:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1277 +[05/25 06:58:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1277 in 2.69s (batch: 2.60s, save: 0.09s) +[05/25 06:58:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1277 +[05/25 06:58:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1277: 0/1 successful episodes +[05/25 06:58:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1304 (index 18/122) +[05/25 06:58:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 06:58:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 06:58:36 Worker 0 WARNING object_manager.py:1238] Could not find object objawalrusskull_a8fcc4dbeaee4ec5b3e367cbe30bc1a8_1_0_4 in scene +[05/25 06:58:36 Worker 0 WARNING object_manager.py:1238] Could not find object objawalkietalkie_30dac864de094a7d8721e3fe8b3731e2_1_0_4 in scene +[05/25 06:58:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1304 episode 0 object objatomato_a64e1ac7f8c44821bbc365f0581d95b2_1_0_2 completed with success=False +[05/25 07:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1304: 1 episodes +[05/25 07:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:00:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:00:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1304 +[05/25 07:00:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1304 in 2.72s (batch: 2.61s, save: 0.11s) +[05/25 07:00:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1304 +[05/25 07:00:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1304: 0/1 successful episodes +[05/25 07:00:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1334 (index 19/122) +[05/25 07:00:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:00:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:00:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:01:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 1334 episode 0 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False +[05/25 07:01:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1334: 1 episodes +[05/25 07:01:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:02:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:02:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1334 +[05/25 07:02:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1334 in 2.94s (batch: 2.83s, save: 0.11s) +[05/25 07:02:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1334 +[05/25 07:02:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1334: 0/1 successful episodes +[05/25 07:02:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1359 (index 20/122) +[05/25 07:02:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:02:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalclamp_4349300626ef4f3e9448d00fa0147421_1_0_7 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objafoodmodel_010bfd2169e84462816688838d5f8976_1_0_7 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_9 in scene +[05/25 07:02:10 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_9 in scene +[05/25 07:05:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1359 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_9 completed with success=False +[05/25 07:05:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1359: 1 episodes +[05/25 07:05:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:05:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1359 +[05/25 07:05:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1359 in 3.10s (batch: 2.95s, save: 0.16s) +[05/25 07:05:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1359 +[05/25 07:05:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1359: 0/1 successful episodes +[05/25 07:05:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1385 (index 21/122) +[05/25 07:05:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:05:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 07:05:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:07:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 1385 episode 0 object objabeveragecontainer_4448ae95b4d342adaba79359a10b443c_3_0_2 completed with success=False +[05/25 07:07:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1385: 1 episodes +[05/25 07:07:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:07:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:07:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1385 +[05/25 07:07:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1385 in 2.78s (batch: 2.68s, save: 0.10s) +[05/25 07:07:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1385 +[05/25 07:07:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1385: 0/1 successful episodes +[05/25 07:07:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1459 (index 22/122) +[05/25 07:07:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:07:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:07:40 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_90901577d17b4a96bd853c19b47e579a_1_0_5 in scene +[05/25 07:07:40 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_2_0_5 in scene +[05/25 07:07:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:09:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 1459 episode 0 object objahandheldradio_70225bd7152645f689593ac423bbbf6b_1_0_4 completed with success=False +[05/25 07:09:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1459: 1 episodes +[05/25 07:09:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1459 +[05/25 07:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1459 in 2.82s (batch: 2.72s, save: 0.10s) +[05/25 07:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1459 +[05/25 07:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1459: 0/1 successful episodes +[05/25 07:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1504 (index 23/122) +[05/25 07:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/25 07:10:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene +[05/25 07:10:00 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/25 07:10:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False +[05/25 07:12:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1504: 1 episodes +[05/25 07:12:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:12:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1504 +[05/25 07:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1504 in 2.85s (batch: 2.76s, save: 0.10s) +[05/25 07:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1504 +[05/25 07:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1504: 0/1 successful episodes +[05/25 07:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1567 (index 24/122) +[05/25 07:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1567 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +[05/25 07:12:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 1567 episode 0 object objaanemometer_c38f08309b6b476883c801597bd24727_1_0_2 completed with success=True +[05/25 07:12:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1567: 1 episodes +[05/25 07:12:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 07:12:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:12:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1567 +[05/25 07:12:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1567 in 2.34s (batch: 2.30s, save: 0.04s) +[05/25 07:12:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1567 +[05/25 07:12:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1567: 1/1 successful episodes +[05/25 07:12:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1585 (index 25/122) +[05/25 07:12:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 1585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:12:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:12:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:12:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 1585 episode 0 object objapaddle_2cdbea842d7848d892911e8c3dde0a36_1_0_7 completed with success=True +[05/25 07:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:13:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:15:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 1585 episode 1 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_8 completed with success=False +[05/25 07:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1585: 2 episodes +[05/25 07:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 07:15:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:15:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1585 +[05/25 07:15:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1585 in 5.35s (batch: 5.17s, save: 0.18s) +[05/25 07:15:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1585 +[05/25 07:15:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1585: 1/2 successful episodes +[05/25 07:15:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1625 (index 26/122) +[05/25 07:15:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:15:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/25 07:15:17 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene +[05/25 07:15:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:15:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1625 episode 0 object cookingpan_40a9be8ae8b33a178aac27f51bb40432_1_0_6 completed with success=True +[05/25 07:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1625: 1 episodes +[05/25 07:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/25 07:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1625 +[05/25 07:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1625 in 2.52s (batch: 2.47s, save: 0.04s) +[05/25 07:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1625 +[05/25 07:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1625: 1/1 successful episodes +[05/25 07:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1655 (index 27/122) +[05/25 07:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 07:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:17:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 1655 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_7 completed with success=False +[05/25 07:17:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1655: 1 episodes +[05/25 07:17:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:17:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:17:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1655 +[05/25 07:17:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1655 in 2.60s (batch: 2.50s, save: 0.10s) +[05/25 07:17:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1655 +[05/25 07:17:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1655: 0/1 successful episodes +[05/25 07:17:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1703 (index 28/122) +[05/25 07:17:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1703 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 07:17:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:19:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1703 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_6 completed with success=False +[05/25 07:19:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1703: 1 episodes +[05/25 07:19:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:19:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:19:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1703 +[05/25 07:19:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1703 in 2.79s (batch: 2.70s, save: 0.10s) +[05/25 07:19:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1703 +[05/25 07:19:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1703: 0/1 successful episodes +[05/25 07:19:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1729 (index 29/122) +[05/25 07:19:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:19:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:20:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:20:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1729 episode 0 object objalever_b4e8376a83f9421881a8cefe856862ab_1_0_4 completed with success=True +[05/25 07:20:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1729: 1 episodes +[05/25 07:20:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/25 07:20:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:20:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1729 +[05/25 07:20:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1729 in 2.59s (batch: 2.54s, save: 0.05s) +[05/25 07:20:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1729 +[05/25 07:20:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1729: 1/1 successful episodes +[05/25 07:20:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1775 (index 30/122) +[05/25 07:20:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:20:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 07:20:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 in scene +[05/25 07:20:51 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 in scene +[05/25 07:20:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:22:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 1775 episode 0 object objametalbar_81e66e5123c44a1c8ca59aebcc0bf110_1_0_7 completed with success=False +[05/25 07:23:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1775: 1 episodes +[05/25 07:23:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:23:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1775 +[05/25 07:23:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1775 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 07:23:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1775 +[05/25 07:23:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1775: 0/1 successful episodes +[05/25 07:23:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1822 (index 31/122) +[05/25 07:23:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:23:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:23:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:25:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 1822 episode 0 object objagardentrowel_bb4d58ad2c034be38694489c3fe50b44_1_0_3 completed with success=False +[05/25 07:25:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1822: 1 episodes +[05/25 07:25:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:25:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1822 +[05/25 07:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1822 in 3.07s (batch: 2.96s, save: 0.11s) +[05/25 07:25:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1822 +[05/25 07:25:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1822: 0/1 successful episodes +[05/25 07:25:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1878 (index 32/122) +[05/25 07:25:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:25:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 07:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaterrain_0637e7500cff4e088f4935977fc87309_1_0_6 in scene +[05/25 07:25:16 Worker 0 WARNING object_manager.py:1238] Could not find object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_6 in scene +[05/25 07:25:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:27:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 1878 episode 0 object objalantern_c7a9fa27b8084433b19e1e528eb9a7ce_1_0_7 completed with success=False +[05/25 07:27:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1878: 1 episodes +[05/25 07:27:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:27:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1878 +[05/25 07:27:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1878 in 2.72s (batch: 2.59s, save: 0.13s) +[05/25 07:27:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1878 +[05/25 07:27:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1878: 0/1 successful episodes +[05/25 07:27:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1912 (index 33/122) +[05/25 07:27:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:27:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:27:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:29:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1912 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_4 completed with success=False +[05/25 07:29:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1912: 1 episodes +[05/25 07:29:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:30:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1912 +[05/25 07:30:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1912 in 2.89s (batch: 2.78s, save: 0.11s) +[05/25 07:30:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1912 +[05/25 07:30:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1912: 0/1 successful episodes +[05/25 07:30:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1945 (index 34/122) +[05/25 07:30:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:30:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 07:30:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:30:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 1945 episode 0 object objatrumpet_924f0f90d14c40eb86b4a985875525a9_1_0_9 completed with success=True +[05/25 07:30:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1945: 1 episodes +[05/25 07:30:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 123 timesteps +[05/25 07:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1945 +[05/25 07:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1945 in 2.71s (batch: 2.67s, save: 0.05s) +[05/25 07:30:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1945 +[05/25 07:30:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1945: 1/1 successful episodes +[05/25 07:30:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1972 (index 35/122) +[05/25 07:30:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:30:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 07:32:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1972 episode 0 object objawoodenstick_3ba2224b87d449268084ea854f6fb1fb_1_0_6 completed with success=False +[05/25 07:32:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1972: 1 episodes +[05/25 07:32:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:32:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:32:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_1972 +[05/25 07:32:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1972 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 07:32:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1972 +[05/25 07:32:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1972: 0/1 successful episodes +[05/25 07:32:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2002 (index 36/122) +[05/25 07:32:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:32:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 07:33:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2002 episode 0 object objainstantcamera_e5b7a512a7834420b3dfc5bc15d3bdf6_1_0_8 completed with success=False +[05/25 07:35:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2002: 1 episodes +[05/25 07:35:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:35:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:35:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2002 +[05/25 07:35:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2002 in 2.70s (batch: 2.60s, save: 0.09s) +[05/25 07:35:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2002 +[05/25 07:35:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2002: 0/1 successful episodes +[05/25 07:35:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2033 (index 37/122) +[05/25 07:35:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:35:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:35:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[05/25 07:35:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:35:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2033 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_7 completed with success=True +[05/25 07:35:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2033: 1 episodes +[05/25 07:35:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 07:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:35:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2033 +[05/25 07:35:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2033 in 2.48s (batch: 2.43s, save: 0.06s) +[05/25 07:35:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2033 +[05/25 07:35:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2033: 1/1 successful episodes +[05/25 07:35:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2069 (index 38/122) +[05/25 07:35:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:35:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 07:35:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 07:35:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_8 in scene +[05/25 07:37:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 2069 episode 0 object objabattery_6c270b8def2b4303869ec14484f2ab05_1_0_9 completed with success=False +[05/25 07:37:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2069: 1 episodes +[05/25 07:37:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:37:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:37:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2069 +[05/25 07:37:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2069 in 2.73s (batch: 2.64s, save: 0.10s) +[05/25 07:37:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2069 +[05/25 07:37:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2069: 0/1 successful episodes +[05/25 07:37:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2117 (index 39/122) +[05/25 07:37:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2117 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:37:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_5 in scene +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/25 07:38:00 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_6 in scene +[05/25 07:38:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2117 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_8 completed with success=True +[05/25 07:38:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2117: 1 episodes +[05/25 07:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 82 timesteps +[05/25 07:38:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:38:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2117 +[05/25 07:38:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2117 in 2.38s (batch: 2.32s, save: 0.06s) +[05/25 07:38:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2117 +[05/25 07:38:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2117: 1/1 successful episodes +[05/25 07:38:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2144 (index 40/122) +[05/25 07:38:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:38:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/25 07:38:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:38:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 2144 episode 0 object objarollingpin_95b1c036b67a43aab027a8a024fb4c7c_1_0_2 completed with success=True +[05/25 07:38:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2144: 1 episodes +[05/25 07:38:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/25 07:38:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:38:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2144 +[05/25 07:38:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2144 in 2.38s (batch: 2.35s, save: 0.04s) +[05/25 07:38:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2144 +[05/25 07:38:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2144: 1/1 successful episodes +[05/25 07:38:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2196 (index 41/122) +[05/25 07:38:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:38:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/25 07:41:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 2196 episode 0 object objawrench_af1e03fb8b2a4bc79e9f774a6c03f248_1_0_2 completed with success=False +[05/25 07:41:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2196: 1 episodes +[05/25 07:41:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:41:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:41:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2196 +[05/25 07:41:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2196 in 3.10s (batch: 3.00s, save: 0.10s) +[05/25 07:41:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2196 +[05/25 07:41:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2196: 0/1 successful episodes +[05/25 07:41:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2220 (index 42/122) +[05/25 07:41:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:41:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/25 07:41:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +[05/25 07:41:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_3 in scene +[05/25 07:41:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 2220 episode 0 object objatoytram_832be807365c49d5b6cb9844c4aa66f8_1_0_5 completed with success=False +[05/25 07:43:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2220: 1 episodes +[05/25 07:43:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:43:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:43:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2220 +[05/25 07:43:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2220 in 2.81s (batch: 2.71s, save: 0.10s) +[05/25 07:43:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2220 +[05/25 07:43:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2220: 0/1 successful episodes +[05/25 07:43:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2278 (index 43/122) +[05/25 07:43:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:43:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/25 07:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:43:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2278 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_3_0_2 completed with success=True +[05/25 07:43:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2278: 1 episodes +[05/25 07:43:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 93 timesteps +[05/25 07:44:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:44:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2278 +[05/25 07:44:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2278 in 2.49s (batch: 2.44s, save: 0.05s) +[05/25 07:44:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2278 +[05/25 07:44:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2278: 1/1 successful episodes +[05/25 07:44:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2319 (index 44/122) +[05/25 07:44:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:44:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 07:44:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:45:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2319 episode 0 object objatorch_6439d269a70a4c7e85afbed53d96581c_1_0_5 completed with success=False +[05/25 07:45:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2319: 1 episodes +[05/25 07:45:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2319 +[05/25 07:46:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2319 in 2.78s (batch: 2.67s, save: 0.11s) +[05/25 07:46:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2319 +[05/25 07:46:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2319: 0/1 successful episodes +[05/25 07:46:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2358 (index 45/122) +[05/25 07:46:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2358 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:46:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene +[05/25 07:46:09 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_8 in scene +[05/25 07:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:46:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 2358 episode 0 object objaspatula_8780c90f32e241469730b4e470144a91_1_0_8 completed with success=True +[05/25 07:46:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2358: 1 episodes +[05/25 07:46:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/25 07:46:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:46:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2358 +[05/25 07:46:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2358 in 2.59s (batch: 2.54s, save: 0.05s) +[05/25 07:46:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2358 +[05/25 07:46:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2358: 1/1 successful episodes +[05/25 07:46:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2399 (index 46/122) +[05/25 07:46:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:46:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 07:47:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:47:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2399 episode 0 object objadecorativepipe_d15cec3c902c43efb2484b0eb0ed707f_1_0_6 completed with success=True +[05/25 07:47:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2399: 1 episodes +[05/25 07:47:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/25 07:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2399 +[05/25 07:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2399 in 2.64s (batch: 2.60s, save: 0.04s) +[05/25 07:47:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2399 +[05/25 07:47:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2399: 1/1 successful episodes +[05/25 07:47:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2419 (index 47/122) +[05/25 07:47:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2419 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 07:47:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:49:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 2419 episode 0 object objawallplate_31f435c400aa4287a077f7690cda74a4_1_0_5 completed with success=False +[05/25 07:50:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2419: 1 episodes +[05/25 07:50:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:50:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:50:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2419 +[05/25 07:50:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2419 in 2.83s (batch: 2.73s, save: 0.10s) +[05/25 07:50:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2419 +[05/25 07:50:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2419: 0/1 successful episodes +[05/25 07:50:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2472 (index 48/122) +[05/25 07:50:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:50:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 07:50:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:51:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2472 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_2 completed with success=False +[05/25 07:51:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2472: 1 episodes +[05/25 07:51:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:51:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:51:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2472 +[05/25 07:51:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2472 in 2.72s (batch: 2.61s, save: 0.11s) +[05/25 07:51:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2472 +[05/25 07:51:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2472: 0/1 successful episodes +[05/25 07:51:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2512 (index 49/122) +[05/25 07:51:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:51:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:51:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:52:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2512 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_1_0_6 completed with success=True +[05/25 07:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 07:52:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:54:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2512 episode 1 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_7 completed with success=False +[05/25 07:54:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2512: 2 episodes +[05/25 07:54:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/25 07:54:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:54:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:54:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2512 +[05/25 07:54:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2512 in 5.58s (batch: 5.44s, save: 0.14s) +[05/25 07:54:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2512 +[05/25 07:54:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2512: 1/2 successful episodes +[05/25 07:54:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2513 (index 50/122) +[05/25 07:54:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:54:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 07:54:42 Worker 0 WARNING object_manager.py:1238] Could not find object statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_2 in scene +[05/25 07:54:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:56:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2513 episode 0 object objacake_ffd73e3de9754cc695dafd8a382cd01d_1_0_6 completed with success=False +[05/25 07:56:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2513: 1 episodes +[05/25 07:56:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:56:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:56:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2513 +[05/25 07:56:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2513 in 3.13s (batch: 3.02s, save: 0.11s) +[05/25 07:56:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2513 +[05/25 07:56:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2513: 0/1 successful episodes +[05/25 07:56:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2553 (index 51/122) +[05/25 07:56:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:56:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/25 07:56:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 07:59:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 2553 episode 0 object objabouquet_9c5bea0d812a459297b805ff7658b7e0_1_0_6 completed with success=False +[05/25 07:59:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2553: 1 episodes +[05/25 07:59:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 07:59:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 07:59:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2553 +[05/25 07:59:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2553 in 2.66s (batch: 2.56s, save: 0.10s) +[05/25 07:59:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2553 +[05/25 07:59:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2553: 0/1 successful episodes +[05/25 07:59:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2590 (index 52/122) +[05/25 07:59:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2590 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 07:59:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 07:59:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:01:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 2590 episode 0 object objaartifact_a87fc6df8620462e80569af2e476f761_1_0_5 completed with success=False +[05/25 08:01:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2590: 1 episodes +[05/25 08:01:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:01:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:01:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2590 +[05/25 08:01:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2590 in 2.65s (batch: 2.55s, save: 0.10s) +[05/25 08:01:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2590 +[05/25 08:01:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2590: 0/1 successful episodes +[05/25 08:01:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2633 (index 53/122) +[05/25 08:01:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2633 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:01:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaequipment_c125c5c1e56840e68ea00068c5216279_1_0_2 in scene +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_3 in scene +[05/25 08:01:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene +[05/25 08:01:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2633 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_2 completed with success=True +[05/25 08:01:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2633: 1 episodes +[05/25 08:01:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/25 08:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2633 +[05/25 08:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2633 in 2.51s (batch: 2.47s, save: 0.04s) +[05/25 08:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2633 +[05/25 08:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2633: 1/1 successful episodes +[05/25 08:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2655 (index 54/122) +[05/25 08:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:01:58 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_3 in scene +[05/25 08:01:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:03:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2655 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_3 completed with success=False +[05/25 08:03:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2655: 1 episodes +[05/25 08:03:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:03:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:03:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2655 +[05/25 08:03:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2655 in 3.00s (batch: 2.90s, save: 0.10s) +[05/25 08:03:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2655 +[05/25 08:03:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2655: 0/1 successful episodes +[05/25 08:03:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2704 (index 55/122) +[05/25 08:03:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:03:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:04:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2704 episode 0 object objagardengnome_2512c6b3e5724d298428decd0f812be8_1_0_6 completed with success=True +[05/25 08:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2704: 1 episodes +[05/25 08:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/25 08:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:04:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2704 +[05/25 08:04:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2704 in 2.74s (batch: 2.69s, save: 0.05s) +[05/25 08:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2704 +[05/25 08:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2704: 1/1 successful episodes +[05/25 08:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2735 (index 56/122) +[05/25 08:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/25 08:04:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene +[05/25 08:04:32 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene +[05/25 08:07:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2735 episode 0 object objaspear_0bc11c748cb44ba39d21f657cc91797a_1_0_2 completed with success=False +[05/25 08:07:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2735: 1 episodes +[05/25 08:07:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:07:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:07:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2735 +[05/25 08:07:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2735 in 2.66s (batch: 2.55s, save: 0.12s) +[05/25 08:07:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2735 +[05/25 08:07:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2735: 0/1 successful episodes +[05/25 08:07:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2771 (index 57/122) +[05/25 08:07:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:07:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 in scene +[05/25 08:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_8 in scene +[05/25 08:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2771 episode 0 object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 completed with success=False +[05/25 08:09:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2771: 1 episodes +[05/25 08:09:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:09:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:09:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2771 +[05/25 08:09:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2771 in 3.33s (batch: 3.20s, save: 0.13s) +[05/25 08:09:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2771 +[05/25 08:09:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2771: 0/1 successful episodes +[05/25 08:09:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2819 (index 58/122) +[05/25 08:09:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:09:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 08:10:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:12:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 2819 episode 0 object objashoelast_381a6ac90d194e4bbe49c05e20fa24fd_1_0_4 completed with success=False +[05/25 08:12:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2819: 1 episodes +[05/25 08:12:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:12:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:12:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2819 +[05/25 08:12:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2819 in 2.71s (batch: 2.60s, save: 0.11s) +[05/25 08:12:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2819 +[05/25 08:12:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2819: 0/1 successful episodes +[05/25 08:12:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2854 (index 59/122) +[05/25 08:12:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2854 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:12:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:12:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2854 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_5 completed with success=False +[05/25 08:14:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2854: 1 episodes +[05/25 08:14:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2854 +[05/25 08:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2854 in 2.63s (batch: 2.54s, save: 0.10s) +[05/25 08:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2854 +[05/25 08:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2854: 0/1 successful episodes +[05/25 08:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2885 (index 60/122) +[05/25 08:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/25 08:15:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:17:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 2885 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_8 completed with success=False +[05/25 08:17:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2885: 1 episodes +[05/25 08:17:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:17:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:17:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2885 +[05/25 08:17:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2885 in 2.86s (batch: 2.76s, save: 0.10s) +[05/25 08:17:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2885 +[05/25 08:17:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2885: 0/1 successful episodes +[05/25 08:17:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2932 (index 61/122) +[05/25 08:17:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2932 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:17:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:17:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:19:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 2932 episode 0 object objaarrowhead_fc1d91fa4bdd4407898cbe512c24fe8b_1_0_9 completed with success=False +[05/25 08:20:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2932: 1 episodes +[05/25 08:20:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:20:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:20:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2932 +[05/25 08:20:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2932 in 2.98s (batch: 2.88s, save: 0.10s) +[05/25 08:20:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2932 +[05/25 08:20:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2932: 0/1 successful episodes +[05/25 08:20:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2976 (index 62/122) +[05/25 08:20:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:20:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 08:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 2976 episode 0 object objatiara_806e2009917d4de7b2911bb536feb687_1_0_7 completed with success=False +[05/25 08:22:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2976: 1 episodes +[05/25 08:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:22:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_2976 +[05/25 08:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2976 in 2.86s (batch: 2.75s, save: 0.10s) +[05/25 08:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2976 +[05/25 08:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2976: 0/1 successful episodes +[05/25 08:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3027 (index 63/122) +[05/25 08:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3027 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/25 08:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 in scene +[05/25 08:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_5 in scene +[05/25 08:22:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:22:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3027 episode 0 object objatoygun_07b3f6bb554c4516a4bfc2bfe4bf0c2b_1_0_4 completed with success=True +[05/25 08:22:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3027: 1 episodes +[05/25 08:22:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/25 08:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:22:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3027 +[05/25 08:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3027 in 2.67s (batch: 2.63s, save: 0.04s) +[05/25 08:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3027 +[05/25 08:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3027: 1/1 successful episodes +[05/25 08:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3060 (index 64/122) +[05/25 08:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3060 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objatorch_48e56d1bf89e46e7bcdccbbb997471f7_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/25 08:23:04 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:23:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:23:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3060 episode 0 object objabrooch_43fdfc6ac7b1453c80e1949cc48ee038_1_0_8 completed with success=True +[05/25 08:23:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3060: 1 episodes +[05/25 08:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/25 08:23:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:23:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3060 +[05/25 08:23:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3060 in 2.44s (batch: 2.40s, save: 0.04s) +[05/25 08:23:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3060 +[05/25 08:23:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3060: 1/1 successful episodes +[05/25 08:23:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3105 (index 65/122) +[05/25 08:23:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:23:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_8443411f882f41bfbde99785b22c9503_1_0_5 in scene +[05/25 08:23:31 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_2_0_8 in scene +[05/25 08:25:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3105 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_7 completed with success=False +[05/25 08:25:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3105: 1 episodes +[05/25 08:25:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:25:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:25:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3105 +[05/25 08:25:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3105 in 3.10s (batch: 2.98s, save: 0.12s) +[05/25 08:26:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3105 +[05/25 08:26:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3105: 0/1 successful episodes +[05/25 08:26:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3191 (index 66/122) +[05/25 08:26:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:26:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 08:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:28:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3191 episode 0 object objastoneartifact_58a50d12190a4248ba4bbd1f29b8053d_1_0_4 completed with success=False +[05/25 08:28:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3191: 1 episodes +[05/25 08:28:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:28:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:28:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3191 +[05/25 08:28:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3191 in 2.83s (batch: 2.73s, save: 0.09s) +[05/25 08:28:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3191 +[05/25 08:28:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3191: 0/1 successful episodes +[05/25 08:28:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3226 (index 67/122) +[05/25 08:28:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3226 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/25 08:30:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3226 episode 0 object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 completed with success=False +[05/25 08:30:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3226: 1 episodes +[05/25 08:30:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3226 +[05/25 08:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3226 in 2.70s (batch: 2.60s, save: 0.10s) +[05/25 08:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3226 +[05/25 08:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3226: 0/1 successful episodes +[05/25 08:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3246 (index 68/122) +[05/25 08:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 08:31:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3246 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_6 completed with success=True +[05/25 08:31:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3246: 1 episodes +[05/25 08:31:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/25 08:31:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:31:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3246 +[05/25 08:31:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3246 in 2.56s (batch: 2.51s, save: 0.05s) +[05/25 08:31:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3246 +[05/25 08:31:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3246: 1/1 successful episodes +[05/25 08:31:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3276 (index 69/122) +[05/25 08:31:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:31:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:31:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3276 episode 0 object objascrewdriver_215ef6cbb3de40e2ab420f4332534bd9_1_0_5 completed with success=True +[05/25 08:32:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3276: 1 episodes +[05/25 08:32:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/25 08:32:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3276 +[05/25 08:32:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3276 in 2.66s (batch: 2.61s, save: 0.05s) +[05/25 08:32:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3276 +[05/25 08:32:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3276: 1/1 successful episodes +[05/25 08:32:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3316 (index 70/122) +[05/25 08:32:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:32:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/25 08:32:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/25 08:32:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3316 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_6 completed with success=True +[05/25 08:32:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3316: 1 episodes +[05/25 08:32:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/25 08:32:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:32:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3316 +[05/25 08:32:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3316 in 2.58s (batch: 2.53s, save: 0.05s) +[05/25 08:32:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3316 +[05/25 08:32:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3316: 1/1 successful episodes +[05/25 08:32:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3379 (index 71/122) +[05/25 08:32:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:32:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 08:32:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:33:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3379 episode 0 object objametalrod_18484b0d1a274d62abde66a9047600ca_1_0_3 completed with success=True +[05/25 08:33:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3379: 1 episodes +[05/25 08:33:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 103 timesteps +[05/25 08:33:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:33:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3379 +[05/25 08:33:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3379 in 2.44s (batch: 2.40s, save: 0.05s) +[05/25 08:33:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3379 +[05/25 08:33:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3379: 1/1 successful episodes +[05/25 08:33:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3423 (index 72/122) +[05/25 08:33:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:33:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/25 08:33:34 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/25 08:33:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_5a83321dfc4d4f60be6cb300826a248b_1_0_5 in scene +[05/25 08:33:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:35:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 3423 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_8 completed with success=False +[05/25 08:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3423: 1 episodes +[05/25 08:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3423 +[05/25 08:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3423 in 3.02s (batch: 2.89s, save: 0.12s) +[05/25 08:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3423 +[05/25 08:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3423: 0/1 successful episodes +[05/25 08:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3467 (index 73/122) +[05/25 08:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:36:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 08:36:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[05/25 08:38:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3467 episode 0 object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 completed with success=False +[05/25 08:38:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3467: 1 episodes +[05/25 08:39:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:39:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:39:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3467 +[05/25 08:39:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3467 in 2.91s (batch: 2.77s, save: 0.14s) +[05/25 08:39:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3467 +[05/25 08:39:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3467: 0/1 successful episodes +[05/25 08:39:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3501 (index 74/122) +[05/25 08:39:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:39:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 08:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 3501 episode 0 object objabulletcartridge_828758a9cb5043e09fc6cbc857ae0c91_1_0_2 completed with success=False +[05/25 08:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3501: 1 episodes +[05/25 08:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:41:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3501 +[05/25 08:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3501 in 2.80s (batch: 2.69s, save: 0.11s) +[05/25 08:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3501 +[05/25 08:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3501: 0/1 successful episodes +[05/25 08:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3531 (index 75/122) +[05/25 08:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:41:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 08:41:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 in scene +[05/25 08:41:05 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_3 in scene +[05/25 08:42:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3531 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False +[05/25 08:42:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3531: 1 episodes +[05/25 08:42:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:42:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:42:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3531 +[05/25 08:42:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3531 in 2.64s (batch: 2.53s, save: 0.11s) +[05/25 08:42:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3531 +[05/25 08:42:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3531: 0/1 successful episodes +[05/25 08:42:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3576 (index 76/122) +[05/25 08:42:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:42:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 08:42:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:45:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3576 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 completed with success=False +[05/25 08:45:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3576: 1 episodes +[05/25 08:45:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:45:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3576 +[05/25 08:45:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3576 in 2.82s (batch: 2.72s, save: 0.09s) +[05/25 08:45:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3576 +[05/25 08:45:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3576: 0/1 successful episodes +[05/25 08:45:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 77/122) +[05/25 08:45:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:45:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:45:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=True +[05/25 08:45:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 1 episodes +[05/25 08:45:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 08:45:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:45:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3613 +[05/25 08:45:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 2.47s (batch: 2.43s, save: 0.04s) +[05/25 08:45:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/25 08:45:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 1/1 successful episodes +[05/25 08:45:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3647 (index 78/122) +[05/25 08:45:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:45:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[05/25 08:46:08 Worker 0 WARNING object_manager.py:1238] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene +[05/25 08:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3647 episode 0 object objascissors_e0304800688647d488200a993f1ff930_1_0_8 completed with success=True +[05/25 08:46:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3647: 1 episodes +[05/25 08:46:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 104 timesteps +[05/25 08:46:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:46:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3647 +[05/25 08:46:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3647 in 2.41s (batch: 2.35s, save: 0.06s) +[05/25 08:46:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3647 +[05/25 08:46:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3647: 1/1 successful episodes +[05/25 08:46:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3687 (index 79/122) +[05/25 08:46:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3687 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:46:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 08:46:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:48:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3687 episode 0 object objahandfile_c9f3e71edf624d05a1ac0b2083e6b886_1_0_8 completed with success=False +[05/25 08:48:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3687: 1 episodes +[05/25 08:48:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:48:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:48:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3687 +[05/25 08:48:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3687 in 2.90s (batch: 2.81s, save: 0.10s) +[05/25 08:48:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3687 +[05/25 08:48:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3687: 0/1 successful episodes +[05/25 08:48:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 80/122) +[05/25 08:48:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:48:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/25 08:49:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objatoyblaster_b72ce13805f24d729e6cbd54789a93a1_1_0_6 completed with success=True +[05/25 08:49:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/25 08:49:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/25 08:49:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:49:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3725 +[05/25 08:49:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 2.41s (batch: 2.37s, save: 0.04s) +[05/25 08:49:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/25 08:49:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 1/1 successful episodes +[05/25 08:49:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3769 (index 81/122) +[05/25 08:49:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3769 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:49:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaheaddress_017a1cee8b614bacaeb030e17545ccac_1_0_5 in scene +[05/25 08:49:34 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/25 08:51:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3769 episode 0 object objastirrup_8732e5243857451ba4a3447c1eec0771_1_0_3 completed with success=False +[05/25 08:51:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3769: 1 episodes +[05/25 08:51:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:51:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:51:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3769 +[05/25 08:51:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3769 in 3.09s (batch: 2.98s, save: 0.12s) +[05/25 08:51:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3769 +[05/25 08:51:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3769: 0/1 successful episodes +[05/25 08:51:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3818 (index 82/122) +[05/25 08:51:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:51:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[05/25 08:51:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +[05/25 08:51:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:54:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 3818 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_8 completed with success=False +[05/25 08:54:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3818: 1 episodes +[05/25 08:54:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3818 +[05/25 08:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3818 in 2.78s (batch: 2.68s, save: 0.10s) +[05/25 08:54:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3818 +[05/25 08:54:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3818: 0/1 successful episodes +[05/25 08:54:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3826 (index 83/122) +[05/25 08:54:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:54:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 08:56:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3826 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_4 completed with success=False +[05/25 08:56:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 08:57:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 3826 episode 1 object objaemblem_3e1c1466187846d9bb64c15f5c6f8396_1_0_9 completed with success=True +[05/25 08:57:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3826: 2 episodes +[05/25 08:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/25 08:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:57:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3826 +[05/25 08:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3826 in 5.23s (batch: 5.09s, save: 0.13s) +[05/25 08:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3826 +[05/25 08:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3826: 1/2 successful episodes +[05/25 08:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3851 (index 84/122) +[05/25 08:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3851 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetext_ad485cfd217c41ab8c8ddef5ea2087b2_1_0_6 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_56a0e72f08658c16519ab66e688eb292_1_0_6 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_7 in scene +[05/25 08:57:37 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/25 08:57:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 08:59:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3851 episode 0 object objaidholder_588bfc656c634b298db26d81c51fff93_1_0_8 completed with success=False +[05/25 08:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3851: 1 episodes +[05/25 08:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 08:59:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 08:59:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3851 +[05/25 08:59:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3851 in 2.99s (batch: 2.86s, save: 0.13s) +[05/25 08:59:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3851 +[05/25 08:59:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3851: 0/1 successful episodes +[05/25 08:59:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3880 (index 85/122) +[05/25 08:59:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 08:59:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/25 08:59:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:02:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3880 episode 0 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_2 completed with success=False +[05/25 09:02:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3880: 1 episodes +[05/25 09:02:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:02:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:02:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3880 +[05/25 09:02:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3880 in 2.68s (batch: 2.59s, save: 0.09s) +[05/25 09:02:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3880 +[05/25 09:02:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3880: 0/1 successful episodes +[05/25 09:02:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3902 (index 86/122) +[05/25 09:02:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:02:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/25 09:02:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:04:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 3902 episode 0 object objaastrolabe_530bd21edcdf4c4695cc4c8af856d6bf_1_0_7 completed with success=False +[05/25 09:04:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3902: 1 episodes +[05/25 09:04:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:04:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:04:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3902 +[05/25 09:04:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3902 in 2.97s (batch: 2.85s, save: 0.12s) +[05/25 09:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3902 +[05/25 09:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3902: 0/1 successful episodes +[05/25 09:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3928 (index 87/122) +[05/25 09:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 09:04:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 3928 episode 0 object objafilmcamera_b18e3c3a8d104a048d72737e02f7a490_1_0_6 completed with success=False +[05/25 09:06:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3928: 1 episodes +[05/25 09:06:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3928 +[05/25 09:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3928 in 2.79s (batch: 2.68s, save: 0.10s) +[05/25 09:06:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3928 +[05/25 09:06:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3928: 0/1 successful episodes +[05/25 09:06:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3971 (index 88/122) +[05/25 09:06:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:06:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/25 09:09:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3971 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False +[05/25 09:09:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3971: 1 episodes +[05/25 09:09:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:09:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:09:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_3971 +[05/25 09:09:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3971 in 2.75s (batch: 2.65s, save: 0.10s) +[05/25 09:09:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3971 +[05/25 09:09:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3971: 0/1 successful episodes +[05/25 09:09:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4004 (index 89/122) +[05/25 09:09:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/25 09:09:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:11:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4004 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_3 completed with success=False +[05/25 09:11:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4004: 1 episodes +[05/25 09:11:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:11:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:11:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4004 +[05/25 09:11:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4004 in 2.93s (batch: 2.82s, save: 0.11s) +[05/25 09:11:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4004 +[05/25 09:11:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4004: 0/1 successful episodes +[05/25 09:11:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 90/122) +[05/25 09:11:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:11:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/25 09:11:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +[05/25 09:11:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:13:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False +[05/25 09:13:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/25 09:13:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:13:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4041 +[05/25 09:13:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.75s (batch: 2.62s, save: 0.13s) +[05/25 09:13:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/25 09:13:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/25 09:13:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4106 (index 91/122) +[05/25 09:13:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4106 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:13:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 09:13:27 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/25 09:13:27 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_5 in scene +[05/25 09:13:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:13:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4106 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_4 completed with success=True +[05/25 09:13:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4106: 1 episodes +[05/25 09:13:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/25 09:13:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:13:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4106 +[05/25 09:13:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4106 in 2.56s (batch: 2.51s, save: 0.04s) +[05/25 09:13:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4106 +[05/25 09:13:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4106: 1/1 successful episodes +[05/25 09:13:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 92/122) +[05/25 09:13:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:13:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/25 09:14:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/25 09:14:04 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[05/25 09:14:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=True +[05/25 09:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/25 09:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 09:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4158 +[05/25 09:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 2.26s (batch: 2.23s, save: 0.03s) +[05/25 09:14:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/25 09:14:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 1/1 successful episodes +[05/25 09:14:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 93/122) +[05/25 09:14:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:14:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:14:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:14:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=True +[05/25 09:14:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/25 09:14:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/25 09:14:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:14:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4205 +[05/25 09:14:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 2.40s (batch: 2.36s, save: 0.04s) +[05/25 09:14:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/25 09:14:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 1/1 successful episodes +[05/25 09:14:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 94/122) +[05/25 09:14:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:14:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/25 09:14:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=True +[05/25 09:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes +[05/25 09:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/25 09:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4270 +[05/25 09:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 2.54s (batch: 2.48s, save: 0.06s) +[05/25 09:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270 +[05/25 09:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 1/1 successful episodes +[05/25 09:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4315 (index 95/122) +[05/25 09:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4315 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/25 09:15:34 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaictile_dbcfc351ce14458bae5d475a7727ac54_1_0_7 in scene +[05/25 09:15:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:16:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4315 episode 0 object objacheese_1e260037ef3a403ea4da2f78a643dcb6_1_0_6 completed with success=True +[05/25 09:16:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4315: 1 episodes +[05/25 09:16:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 124 timesteps +[05/25 09:16:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:16:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4315 +[05/25 09:16:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4315 in 2.45s (batch: 2.41s, save: 0.05s) +[05/25 09:16:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4315 +[05/25 09:16:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4315: 1/1 successful episodes +[05/25 09:16:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 96/122) +[05/25 09:16:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:16:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/25 09:16:24 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/25 09:16:24 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/25 09:18:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_7 completed with success=False +[05/25 09:18:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/25 09:18:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:18:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:18:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4372 +[05/25 09:18:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.79s (batch: 2.70s, save: 0.09s) +[05/25 09:18:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/25 09:18:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/25 09:18:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4404 (index 97/122) +[05/25 09:18:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/25 09:18:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:20:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4404 episode 0 object objadecorativedoll_0db864e5ae514cd78da9d8a60422edf9_1_0_3 completed with success=False +[05/25 09:20:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4404: 1 episodes +[05/25 09:20:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:20:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:20:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4404 +[05/25 09:20:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4404 in 2.92s (batch: 2.81s, save: 0.11s) +[05/25 09:20:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4404 +[05/25 09:20:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4404: 0/1 successful episodes +[05/25 09:20:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4460 (index 98/122) +[05/25 09:20:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:20:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[05/25 09:22:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4460 episode 0 object objahinge_b94d0e132cdd47589cc382d80c29eff8_1_0_2 completed with success=False +[05/25 09:22:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4460: 1 episodes +[05/25 09:22:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:22:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:22:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4460 +[05/25 09:22:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4460 in 2.90s (batch: 2.80s, save: 0.10s) +[05/25 09:22:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4460 +[05/25 09:22:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4460: 0/1 successful episodes +[05/25 09:22:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 99/122) +[05/25 09:22:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:22:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/25 09:22:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:24:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False +[05/25 09:25:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes +[05/25 09:25:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:25:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:25:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4500 +[05/25 09:25:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 09:25:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500 +[05/25 09:25:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes +[05/25 09:25:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4552 (index 100/122) +[05/25 09:25:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:25:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 09:25:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4552 episode 0 object objatoyhelicopter_3a766d9cc0484f1993dd8dc658b81181_1_0_8 completed with success=True +[05/25 09:25:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4552: 1 episodes +[05/25 09:25:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/25 09:25:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:25:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4552 +[05/25 09:25:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4552 in 2.49s (batch: 2.46s, save: 0.04s) +[05/25 09:25:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4552 +[05/25 09:25:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4552: 1/1 successful episodes +[05/25 09:25:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4581 (index 101/122) +[05/25 09:25:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:25:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/25 09:27:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4581 episode 0 object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5 completed with success=False +[05/25 09:27:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4581: 1 episodes +[05/25 09:27:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:27:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:27:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4581 +[05/25 09:27:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4581 in 2.78s (batch: 2.66s, save: 0.12s) +[05/25 09:27:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4581 +[05/25 09:27:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4581: 0/1 successful episodes +[05/25 09:27:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4656 (index 102/122) +[05/25 09:27:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:27:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/25 09:27:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:28:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4656 episode 0 object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_2 completed with success=True +[05/25 09:28:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4656: 1 episodes +[05/25 09:28:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/25 09:28:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:28:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4656 +[05/25 09:28:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4656 in 2.42s (batch: 2.36s, save: 0.06s) +[05/25 09:28:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4656 +[05/25 09:28:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4656: 1/1 successful episodes +[05/25 09:28:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4721 (index 103/122) +[05/25 09:28:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:28:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4721 episode 0 object objabottlecap_d47d2f5bc5fd4af890cec03b9d8613ff_1_0_6 completed with success=False +[05/25 09:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4721: 1 episodes +[05/25 09:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4721 +[05/25 09:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4721 in 2.58s (batch: 2.46s, save: 0.12s) +[05/25 09:30:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4721 +[05/25 09:30:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4721: 0/1 successful episodes +[05/25 09:30:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4760 (index 104/122) +[05/25 09:30:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4760 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:30:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[05/25 09:30:18 Worker 0 WARNING object_manager.py:1238] Could not find object objataxidermybird_74899b53418345d38a5159913215384f_1_0_4 in scene +[05/25 09:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:30:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4760 episode 0 object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_4 completed with success=True +[05/25 09:30:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4760: 1 episodes +[05/25 09:30:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/25 09:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4760 +[05/25 09:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4760 in 2.49s (batch: 2.44s, save: 0.05s) +[05/25 09:30:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4760 +[05/25 09:30:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4760: 1/1 successful episodes +[05/25 09:30:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4812 (index 105/122) +[05/25 09:30:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4812 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:30:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_3 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_3 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objasubmarine_c5fe51ccf7c5427b98afa3799a341931_2_0_6 in scene +[05/25 09:31:03 Worker 0 WARNING object_manager.py:1238] Could not find object objabulletcasing_994975e1ffc846e9b7df8ea7bdeee0cb_1_0_6 in scene +[05/25 09:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4812 episode 0 object objapipette_0ac026b437314112ad8a72471425d47f_1_0_7 completed with success=True +[05/25 09:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4812: 1 episodes +[05/25 09:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/25 09:31:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:31:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4812 +[05/25 09:31:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4812 in 2.48s (batch: 2.43s, save: 0.05s) +[05/25 09:31:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4812 +[05/25 09:31:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4812: 1/1 successful episodes +[05/25 09:31:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4861 (index 106/122) +[05/25 09:31:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4861 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:31:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/61 [00:00 does not support tracking retries. +[05/25 09:31:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene +[05/25 09:31:48 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_a231a75666b04ec382be5c12ff7a554b_1_0_9 in scene +[05/25 09:31:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:34:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4861 episode 0 object objametalplate_a0d9d68e339540b2ac14bd11b2d5e519_1_0_2 completed with success=False +[05/25 09:34:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4861: 1 episodes +[05/25 09:34:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:34:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:34:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4861 +[05/25 09:34:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4861 in 3.26s (batch: 3.16s, save: 0.10s) +[05/25 09:34:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4861 +[05/25 09:34:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4861: 0/1 successful episodes +[05/25 09:34:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4921 (index 107/122) +[05/25 09:34:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4921 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:34:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 09:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:36:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4921 episode 0 object vase_61e70bb516f7e79bff61fcd075396cae_1_0_6 completed with success=False +[05/25 09:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4921: 1 episodes +[05/25 09:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:36:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:36:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4921 +[05/25 09:36:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4921 in 2.85s (batch: 2.75s, save: 0.10s) +[05/25 09:36:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4921 +[05/25 09:36:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4921: 0/1 successful episodes +[05/25 09:36:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4969 (index 108/122) +[05/25 09:36:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:36:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 in scene +[05/25 09:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_6 in scene +[05/25 09:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4969 episode 0 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_2 completed with success=False +[05/25 09:39:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4969: 1 episodes +[05/25 09:39:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:39:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:39:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_4969 +[05/25 09:39:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4969 in 3.22s (batch: 3.10s, save: 0.12s) +[05/25 09:39:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4969 +[05/25 09:39:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4969: 0/1 successful episodes +[05/25 09:39:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5007 (index 109/122) +[05/25 09:39:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:39:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/25 09:39:16 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene +[05/25 09:39:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5007 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_6 completed with success=True +[05/25 09:39:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5007: 1 episodes +[05/25 09:39:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/25 09:39:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:39:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5007 +[05/25 09:39:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5007 in 2.56s (batch: 2.47s, save: 0.09s) +[05/25 09:39:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5007 +[05/25 09:39:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5007: 1/1 successful episodes +[05/25 09:39:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5032 (index 110/122) +[05/25 09:39:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5032 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:39:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/25 09:39:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_3 in scene +[05/25 09:39:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:41:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5032 episode 0 object objaconnector_eccce4e5f3e04ae58efb74c938d0d1ee_1_0_4 completed with success=False +[05/25 09:42:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5032: 1 episodes +[05/25 09:42:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:42:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:42:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5032 +[05/25 09:42:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5032 in 2.60s (batch: 2.50s, save: 0.10s) +[05/25 09:42:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5032 +[05/25 09:42:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5032: 0/1 successful episodes +[05/25 09:42:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5071 (index 111/122) +[05/25 09:42:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5071 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:42:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/25 09:42:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5071 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 completed with success=True +[05/25 09:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5071: 1 episodes +[05/25 09:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/25 09:42:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:42:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5071 +[05/25 09:42:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5071 in 2.28s (batch: 2.25s, save: 0.04s) +[05/25 09:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5071 +[05/25 09:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5071: 1/1 successful episodes +[05/25 09:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5126 (index 112/122) +[05/25 09:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/25 09:42:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_6 in scene +[05/25 09:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5126 episode 0 object objaskull_a08bf8b5a9df42d9895a78056393bb84_1_0_3 completed with success=False +[05/25 09:44:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5126: 1 episodes +[05/25 09:44:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:44:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5126 +[05/25 09:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5126 in 2.96s (batch: 2.84s, save: 0.12s) +[05/25 09:44:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5126 +[05/25 09:44:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5126: 0/1 successful episodes +[05/25 09:44:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5154 (index 113/122) +[05/25 09:44:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5154 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:44:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/25 09:44:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/25 09:44:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_5e89ddbfc6454e2e8e09c645574b8932_1_0_9 in scene +[05/25 09:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:47:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5154 episode 0 object objaskigoggles_29bf30fb9c4d43548106c095505054a2_1_0_6 completed with success=False +[05/25 09:47:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5154: 1 episodes +[05/25 09:47:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:47:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:47:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5154 +[05/25 09:47:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5154 in 2.67s (batch: 2.58s, save: 0.10s) +[05/25 09:47:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5154 +[05/25 09:47:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5154: 0/1 successful episodes +[05/25 09:47:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5201 (index 114/122) +[05/25 09:47:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:47:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/25 09:47:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:49:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 5201 episode 0 object objahandheldtool_6a9923f0915d4945be0066b78487b112_1_0_7 completed with success=False +[05/25 09:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5201: 1 episodes +[05/25 09:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:49:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:49:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5201 +[05/25 09:49:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5201 in 2.92s (batch: 2.82s, save: 0.10s) +[05/25 09:49:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5201 +[05/25 09:49:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5201: 0/1 successful episodes +[05/25 09:49:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5234 (index 115/122) +[05/25 09:49:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:49:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/25 09:49:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/25 09:49:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:51:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5234 episode 0 object objakylix_19f91ca0e7944e3ebd22ecd8d9c9c4b6_1_0_4 completed with success=False +[05/25 09:51:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5234: 1 episodes +[05/25 09:51:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:51:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:51:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5234 +[05/25 09:51:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5234 in 3.45s (batch: 3.27s, save: 0.18s) +[05/25 09:51:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5234 +[05/25 09:51:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5234: 0/1 successful episodes +[05/25 09:51:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5266 (index 116/122) +[05/25 09:51:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:51:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:51:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:53:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False +[05/25 09:53:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5266: 1 episodes +[05/25 09:53:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:54:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5266 +[05/25 09:54:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5266 in 2.83s (batch: 2.70s, save: 0.13s) +[05/25 09:54:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5266 +[05/25 09:54:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5266: 0/1 successful episodes +[05/25 09:54:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5296 (index 117/122) +[05/25 09:54:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:54:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/25 09:54:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 09:56:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 5296 episode 0 object objaremotecontrol_35714aa2b0cd430a8b8e688e7daa4df3_1_0_7 completed with success=False +[05/25 09:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5296: 1 episodes +[05/25 09:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5296 +[05/25 09:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5296 in 2.83s (batch: 2.72s, save: 0.10s) +[05/25 09:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5296 +[05/25 09:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5296: 0/1 successful episodes +[05/25 09:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5321 (index 118/122) +[05/25 09:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/25 09:56:12 Worker 0 WARNING object_manager.py:1238] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_2 in scene +[05/25 09:58:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5321 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_2 completed with success=False +[05/25 09:58:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5321: 1 episodes +[05/25 09:58:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 09:58:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 09:58:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5321 +[05/25 09:58:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5321 in 3.15s (batch: 3.02s, save: 0.13s) +[05/25 09:58:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5321 +[05/25 09:58:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5321: 0/1 successful episodes +[05/25 09:58:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 119/122) +[05/25 09:58:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 09:58:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/25 09:58:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/25 09:58:26 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +[05/25 10:00:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objamolding_196153b6712d4e63a3dd341bcd97b690_1_0_4 completed with success=False +[05/25 10:00:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes +[05/25 10:00:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5359 +[05/25 10:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.80s (batch: 2.70s, save: 0.11s) +[05/25 10:00:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359 +[05/25 10:00:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes +[05/25 10:00:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 120/122) +[05/25 10:00:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 10:00:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/25 10:00:59 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/25 10:00:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[05/25 10:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/25 10:03:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/25 10:03:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/25 10:03:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:03:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5417 +[05/25 10:03:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.93s (batch: 2.83s, save: 0.10s) +[05/25 10:03:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/25 10:03:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/25 10:03:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5455 (index 121/122) +[05/25 10:03:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 +[05/25 10:03:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/25 10:03:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/25 10:04:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5455 episode 0 object objatray_80f3e8ff021f4f298807123b17f968d8_1_0_2 completed with success=True +[05/25 10:04:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5455: 1 episodes +[05/25 10:04:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/25 10:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/25 10:04:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144/house_5455 +[05/25 10:04:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5455 in 2.57s (batch: 2.53s, save: 0.04s) +[05/25 10:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5455 +[05/25 10:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5455: 1/1 successful episodes +[05/25 10:04:07 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/25 10:04:08 INFO pipeline.py:1496] Completed 122 houses, skipped 0 houses +[05/25 10:04:08 INFO pipeline.py:1499] Success count: 39, Total count: 125 +[05/25 10:04:08 INFO pipeline.py:1500] Success rate: 31.20% +Combined 125 episodes from 122 files → /tmp/tmp6nr_tnan.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv at-end: 31.2% | oracle: 31.2% of 125 episodes +[2026-05-25 10:04:21,751] INFO MolmoSpaces simulator eval finished: success=39/125 rate=0.3120 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval +[2026-05-25 10:04:21,751] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv diff --git a/pick_randcam/pick_randcam/shards/shard_07/submission/eval_meta.json b/pick_randcam/pick_randcam/shards/shard_07/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd38c63e28fb8322f64b8f5769ab8264abc0005 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/results.csv" +} diff --git a/pick_randcam/pick_randcam/shards/shard_07/submission/results.csv b/pick_randcam/pick_randcam/shards/shard_07/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..a1f53a35d6401927aba115afb50688cce49a7b28 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/submission/results.csv @@ -0,0 +1,127 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.645856,0.0 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.808836,0.0 +latest,Knife,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.19874,0.0 +latest,Objaanemometer,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,105.055536,0.0 +latest,Objaapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,206.372974,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,162.125068,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.973769,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.869607,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.441529,0.0 +latest,Objabeltbuckle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.342499,0.0 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.482082,0.0 +latest,Objabottlecap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,100.005291,0.0 +latest,Objabouquet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.524849,0.0 +latest,Objabrooch,2,2,100.0,29.24,99.16,2,100.0,29.24,99.16,40.180803,15.155407 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.929649,0.0 +latest,Objacabinethinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,130.274993,0.0 +latest,Objacake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.173657,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.006174,0.0 +latest,Objacheese,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.886449,0.0 +latest,Objachocolatebar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,72.553399,0.0 +latest,Objaclaypot,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,138.139614,0.0 +latest,Objaclothesiron,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,134.095866,0.0 +latest,Objacoilspring,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,137.205758,0.0 +latest,Objacollar,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,115.761342,19.747579 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.984499,0.0 +latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.802472,0.0 +latest,Objadecorativeartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.420263,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.811046,0.0 +latest,Objadecorativeblades,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,76.992577,0.0 +latest,Objadecorativebranch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,180.945369,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.721622,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344415,0.0 +latest,Objadecorativechain,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.438406,0.0 +latest,Objadecorativedoll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.042026,0.0 +latest,Objadecorativeelement,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.925283,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.907788,0.0 +latest,Objadecorativeknob,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.853542,0.0 +latest,Objadecorativepipe,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,183.712659,0.0 +latest,Objadecorativewoodpiece,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,92.356487,0.0 +latest,Objadeskcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,257.822187,0.0 +latest,Objadie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,175.883565,0.0 +latest,Objaemblem,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,43.391298,0.0 +latest,Objafantasybook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.000293,0.0 +latest,Objafilmcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.250227,0.0 +latest,Objagardengnome,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,74.81079,0.0 +latest,Objagardentrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,141.544568,0.0 +latest,Objaglove,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,206.530173,0.0 +latest,Objagoldbar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.174856,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.172383,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,132.692142,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,155.93699,0.0 +latest,Objahandfile,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.251865,0.0 +latest,Objahandheldradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.823679,0.0 +latest,Objahandheldtool,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,52.178712,6.345151 +latest,Objahandmirror,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,68.753271,0.0 +latest,Objaheadband,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,138.513936,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.923619,0.0 +latest,Objaidholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.448879,0.0 +latest,Objainstantcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.407204,0.0 +latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,183.562828,0.0 +latest,Objakylix,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,203.525623,0.0 +latest,Objalantern,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,139.166127,0.0 +latest,Objalever,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,123.471782,0.0 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.297673,0.0 +latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,94.849016,0.0 +latest,Objamarblesculpture,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,93.766646,0.0 +latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.944687,0.0 +latest,Objamechanicalclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,159.152457,0.0 +latest,Objamegaphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.848332,0.0 +latest,Objametalbar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,136.914872,0.0 +latest,Objametalplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,269.579696,0.0 +latest,Objametalrod,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,171.818877,0.0 +latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.204491,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,93.633269,0.0 +latest,Objanetworkswitch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.734193,0.0 +latest,Objaopticaldevice,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,76.096975,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.500083,0.0 +latest,Objapaddle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,62.056778,0.0 +latest,Objaphotoalbum,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,67.915414,0.0 +latest,Objapipe,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,101.053676,0.0 +latest,Objapipette,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,84.211497,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,136.310841,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,129.899786,0.0 +latest,Objaremotecontrol,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,106.012733,25.923459 +latest,Objarollingpin,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,130.953047,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,244.48557,0.0 +latest,Objascissors,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,64.959856,0.0 +latest,Objascrewdriver,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,103.579812,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.977693,0.0 +latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,149.742254,0.0 +latest,Objaskigoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,137.458603,0.0 +latest,Objaskull,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,103.378656,0.0 +latest,Objaspatula,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,61.580168,0.0 +latest,Objaspear,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.954619,0.0 +latest,Objastake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.559791,0.0 +latest,Objastirrup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.046316,0.0 +latest,Objastoneartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.249582,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.895477,0.0 +latest,Objasymbol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,128.347443,0.0 +latest,Objateacup,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,97.784127,0.0 +latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.592428,0.0 +latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.523231,0.0 +latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.60219,0.0 +latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,336.126462,0.0 +latest,Objatoyblaster,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,30.39732,0.0 +latest,Objatoygun,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,115.449671,0.0 +latest,Objatoyhelicopter,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,98.745501,0.0 +latest,Objatoytram,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.977308,0.0 +latest,Objatray,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,90.351652,0.0 +latest,Objatrowel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,167.817217,0.0 +latest,Objatrumpet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,97.273146,0.0 +latest,Objatube,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.650522,0.0 +latest,Objawallplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.983668,0.0 +latest,Objawasher,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,69.443255,0.0 +latest,Objaweaponsight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,199.45146,0.0 +latest,Objawoodenstick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.118686,0.0 +latest,Objawrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,158.620514,0.0 +latest,Plate,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,60.246378,0.0 +latest,Pot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,276.679518,0.0 +latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,172.885105,0.0 +latest,Vase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,263.661565,0.0 +latest,OVERALL,39,125,31.2,23.74,39.8,39,31.2,23.74,39.8,103.952281,59.685387 diff --git a/pick_randcam/pick_randcam/shards/shard_07/submission/run_command.sh b/pick_randcam/pick_randcam/shards/shard_07/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..34fb0976830f9206ccb40fbe9f031ffb25c02cda --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pick_randcam/pick_randcam/shards/shard_07/submission/shard_07_results.csv b/pick_randcam/pick_randcam/shards/shard_07/submission/shard_07_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..a1f53a35d6401927aba115afb50688cce49a7b28 --- /dev/null +++ b/pick_randcam/pick_randcam/shards/shard_07/submission/shard_07_results.csv @@ -0,0 +1,127 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam/pick_randcam/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_062144 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.645856,0.0 +latest,Cookingpan,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.808836,0.0 +latest,Knife,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,83.19874,0.0 +latest,Objaanemometer,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,105.055536,0.0 +latest,Objaapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,206.372974,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,162.125068,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.973769,0.0 +latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.869607,0.0 +latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,85.441529,0.0 +latest,Objabeltbuckle,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.342499,0.0 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.482082,0.0 +latest,Objabottlecap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,100.005291,0.0 +latest,Objabouquet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.524849,0.0 +latest,Objabrooch,2,2,100.0,29.24,99.16,2,100.0,29.24,99.16,40.180803,15.155407 +latest,Objabulletcartridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.929649,0.0 +latest,Objacabinethinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,130.274993,0.0 +latest,Objacake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.173657,0.0 +latest,Objacamcorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.006174,0.0 +latest,Objacheese,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,112.886449,0.0 +latest,Objachocolatebar,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,72.553399,0.0 +latest,Objaclaypot,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,138.139614,0.0 +latest,Objaclothesiron,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,134.095866,0.0 +latest,Objacoilspring,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,137.205758,0.0 +latest,Objacollar,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,115.761342,19.747579 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.984499,0.0 +latest,Objaconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.802472,0.0 +latest,Objadecorativeartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.420263,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.811046,0.0 +latest,Objadecorativeblades,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,76.992577,0.0 +latest,Objadecorativebranch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,180.945369,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.721622,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344415,0.0 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