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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

@@ -0,0 +1,455 @@
+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'),
+ '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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ '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': ['droid_shoulder_light_randomization',
+                                    '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': 'droid_shoulder_light_randomization',
+                   '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': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   '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': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  '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': [141,
+                                        148,
+                                        253,
+                                        359,
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+                         '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': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         '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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 141 (index 0/120)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 2 episodes for house 141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00	[json_eval_runner.py: 278]
+05/26 12:05:16 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]
+05/26 12:05:33 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_141_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=141, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:38 INFO: [Worker 0] Sampled task 'Pick up the red floral painted russian doll and place it next to the brown textured log'	[task_sampler.py: 1136]
+05/26 12:05:38 INFO: [Worker 0] Worker 0 house 141 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:38 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:05:38 WARNING: [Worker 0] Could not find object objasneaker_662928027f174d278f63c4dc9a995d23_1_0_5 in scene	[object_manager.py: 1238]
+05/26 12:05:38 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 12:13:11 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]
+05/26 13:24:21 INFO: [Worker 0] Worker 0 house 141 episode 0 object objamatryoshkadoll_63a5ccc553044221a68c117a4986d7f3_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 13:24:30 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]
+05/26 13:24:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_141_ceiling.xml	[task_sampler.py: 797]
+05/26 13:24:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=141, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:24:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:24:46 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects	[json_eval_task_sampler.py: 686]
+05/26 13:24:46 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:24:46 INFO: [Worker 0] Sampled task 'Pick up the vintage black vhs tape and place it next to the bulbous shiny gold vase'	[task_sampler.py: 1136]
+05/26 13:24:46 INFO: [Worker 0] Worker 0 house 141 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 13:24:46 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:24:46 WARNING: [Worker 0] Could not find object objasneaker_662928027f174d278f63c4dc9a995d23_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:24:46 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene	[object_manager.py: 1238]
+05/26 13:31:13 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]
+05/26 14:47:40 INFO: [Worker 0] Worker 0 house 141 episode 1 object objavhscassettetape_b77c631e3794478d8cc5e603cac65e0e_1_0_4 completed with success=False	[pipeline.py: 1114]
+05/26 14:47:50 INFO: [Worker 0] Batching and saving trajectory data for house_141: 2 episodes	[pipeline.py: 233]
+05/26 14:47:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:47:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:48:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:48:00 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_141	[save_utils.py: 703]
+05/26 14:48:00 INFO: [Worker 0] Successfully saved trajectory data for house_141 in 10.23s (batch: 9.63s, save: 0.60s)	[pipeline.py: 280]
+05/26 14:48:01 WARNING: [Worker 0] No trajectory data to save for house_141	[pipeline.py: 229]
+05/26 14:48:01 INFO: [Worker 0] Worker 0 completed house 141: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 14:48:01 INFO: [Worker 0] Worker 0 starting house 148 (index 1/120)	[pipeline.py: 473]
+05/26 14:48:01 INFO: [Worker 0] Loaded 1 episodes for house 148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00	[json_eval_runner.py: 278]
+05/26 14:48:01 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]
+05/26 14:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_148_ceiling.xml	[task_sampler.py: 797]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=148, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects	[json_eval_task_sampler.py: 686]
+05/26 14:48:19 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:48:20 INFO: [Worker 0] Sampled task 'Pick up the coffeepot and place it next to the red biplane'	[task_sampler.py: 1136]
+05/26 14:48:20 INFO: [Worker 0] Worker 0 house 148 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:48:20 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 14:53:38 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]
+05/26 16:39:14 INFO: [Worker 0] Worker 0 house 148 episode 0 object objafrenchpress_30255ea5204d4a9397e0ab2601c4295a_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 16:39:23 INFO: [Worker 0] Batching and saving trajectory data for house_148: 1 episodes	[pipeline.py: 233]
+05/26 16:39:23 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:39:31 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_148	[save_utils.py: 703]
+05/26 16:39:31 INFO: [Worker 0] Successfully saved trajectory data for house_148 in 7.86s (batch: 7.49s, save: 0.37s)	[pipeline.py: 280]
+05/26 16:39:33 WARNING: [Worker 0] No trajectory data to save for house_148	[pipeline.py: 229]
+05/26 16:39:33 INFO: [Worker 0] Worker 0 completed house 148: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:39:33 INFO: [Worker 0] Worker 0 starting house 253 (index 2/120)	[pipeline.py: 473]
+05/26 16:39:33 INFO: [Worker 0] Loaded 1 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00	[json_eval_runner.py: 278]
+05/26 16:39:33 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]
+05/26 16:39:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_253_ceiling.xml	[task_sampler.py: 797]
+05/26 16:39:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:39:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:39:52 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects	[json_eval_task_sampler.py: 686]
+05/26 16:39:52 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:39:52 INFO: [Worker 0] Sampled task 'Pick up the sleek modern handset and place it next to the smooth green rectangular pillow'	[task_sampler.py: 1136]
+05/26 16:39:52 INFO: [Worker 0] Worker 0 house 253 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:39:53 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:39:53 WARNING: [Worker 0] Could not find object objanoveltypickaxe_ec8788211970412b95d9c478b1c74e25_1_0_8 in scene	[object_manager.py: 1238]
+05/26 16:39:53 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_8 in scene	[object_manager.py: 1238]
+05/26 17:59:07 INFO: [Worker 0] Worker 0 house 253 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 17:59:16 INFO: [Worker 0] Batching and saving trajectory data for house_253: 1 episodes	[pipeline.py: 233]
+05/26 17:59:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 17:59:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 17:59:21 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_253	[save_utils.py: 703]
+05/26 17:59:21 INFO: [Worker 0] Successfully saved trajectory data for house_253 in 5.55s (batch: 5.19s, save: 0.36s)	[pipeline.py: 280]
+05/26 17:59:23 WARNING: [Worker 0] No trajectory data to save for house_253	[pipeline.py: 229]
+05/26 17:59:23 INFO: [Worker 0] Worker 0 completed house 253: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 17:59:23 INFO: [Worker 0] Worker 0 starting house 359 (index 3/120)	[pipeline.py: 473]
+05/26 17:59:23 INFO: [Worker 0] Loaded 1 episodes for house 359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00	[json_eval_runner.py: 278]
+05/26 17:59:23 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]
+05/26 17:59:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_359_ceiling.xml	[task_sampler.py: 797]
+05/26 17:59:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=359, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 17:59:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 17:59:42 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 17:59:43 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 17:59:43 INFO: [Worker 0] Sampled task 'Pick up the cookingpan and place it next to the mottled green stone disc'	[task_sampler.py: 1136]
+05/26 17:59:43 INFO: [Worker 0] Worker 0 house 359 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 17:59:43 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objatopographicalmodel_090cdd4fd11e43b8bc9fb55651764a63_1_0_2 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_2 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_2_0_3 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objadecorativekey_f4d6bdabd83a4e2bac669388a2e3615a_1_0_3 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_3 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object objadecorativetoy_4455617907b3478b9d5792dc347a0d84_1_0_4 in scene	[object_manager.py: 1238]
+05/26 17:59:43 WARNING: [Worker 0] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_4 in scene	[object_manager.py: 1238]
+05/26 18:05:53 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]
+05/26 19:02:28 INFO: [Worker 0] Worker 0 house 359 episode 0 object cookingpan_cc0221c96aa0758e4ceb9bfc1145fca4_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 19:02:34 INFO: [Worker 0] Batching and saving trajectory data for house_359: 1 episodes	[pipeline.py: 233]
+05/26 19:02:34 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 19:02:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 19:02:41 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_359	[save_utils.py: 703]
+05/26 19:02:41 INFO: [Worker 0] Successfully saved trajectory data for house_359 in 6.61s (batch: 6.37s, save: 0.24s)	[pipeline.py: 280]
+05/26 19:02:43 WARNING: [Worker 0] No trajectory data to save for house_359	[pipeline.py: 229]
+05/26 19:02:43 INFO: [Worker 0] Worker 0 completed house 359: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 19:02:43 INFO: [Worker 0] Worker 0 starting house 475 (index 4/120)	[pipeline.py: 473]
+05/26 19:02:43 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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00	[json_eval_runner.py: 278]
+05/26 19:02:43 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]
+05/26 19:02:58 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]
+05/26 19:02:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=475, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 19:02:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 19:02:58 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects	[json_eval_task_sampler.py: 686]
+05/26 19:02:59 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 19:02:59 INFO: [Worker 0] Sampled task 'Pick up the black rail with holes and arms and place it next to the smooth red apple'	[task_sampler.py: 1136]
+05/26 19:02:59 INFO: [Worker 0] Worker 0 house 475 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 19:02:59 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 19:08:34 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]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information
+    success = np.full(terminated.shape, fill_value=self.judge_success())
+                                                   ^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success
+    return self.get_info()[0]["success"]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info
+    p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 117, in mesh_aabb
+    aabb_max = np.max(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2810, in max
+    return _wrapreduction(a, np.maximum, 'max', axis, None, out,
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction
+    return ufunc.reduce(obj, axis, dtype, out, **passkwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/episode_results.jsonl

@@ -0,0 +1,120 @@
+{"house_id": "house_1058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lepidopteran and place it next to the brown rectangular bread", "object_name": "objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1180", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark floral mug and place it next to the transparent tall wine glass", "object_name": "objamug_a30aab65d235438bbfc6699faaea762d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1260", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the loudspeaker and place it next to the teal hardcover book with colorful spine", "object_name": "objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1332", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handled polished kitchen knife and place it next to the rectangular dark non-stick frying pan", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1399", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 319, "task_description": "Pick up the compact holographic weapon sight and place it next to the rectangular pillow with earthy stripes", "object_name": "objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1536", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny and place it next to the dark glossy hardcover book with gold", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall yellow poster with woman and place it next to the soapdispenser", "object_name": "objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1732", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black folding knife with accent and place it next to the translucent ergonomic spray bottle", "object_name": "objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pill bottle and place it next to the golden star badge", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781/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 red tdk vhs tape and place it next to the soap bottle", "object_name": "objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red jewelry box with mirror and place it next to the plant life", "object_name": "objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2090", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic juicer with three legs and place it next to the olive scalloped ceramic plate", "object_name": "objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the heavy-duty metal shackle and place it next to the octagonal translucent soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden caduceus with serpents and wings and place it next to the white square bowl", "object_name": "objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2433", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue blades and place it next to the square blue plate", "object_name": "objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the street sign and place it next to the sleek slim dark phone with camera", "object_name": "objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2597", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek ipod with screen and wheel and place it next to the colorful dodecahedron with text", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2683", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal vintage handheld camera and place it next to the yellow handled polished kitchen knife", "object_name": "objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2824", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the octagonal silver plate and place it next to the steel pot", "object_name": "plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2891", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black modern microphone and place it next to the ornate gray crown with lettering", "object_name": "objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3007", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it next to the pink classical draped relief", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3120", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green bullet and place it next to the bronze full-figured statue", "object_name": "objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the piece and place it next to the vintage radio with wooden exterior", "object_name": "objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3272", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the blue spray bottle with nozzle", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3331", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it next to the bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the portable computer", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3483", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 136, "task_description": "Pick up the white playing card with black skull and place it next to the rectangular dark gray tufted pillow", "object_name": "objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp holding dark stone and place it next to the dark glossy hardcover book", "object_name": "objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall slender brown wooden bottle and place it next to the bronze full-figured statue", "object_name": "objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3610", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray bird with orange beak and place it next to the medium smooth red apple", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato with stem and place it next to the gold vase", "object_name": "objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the slideprojector", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3864", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3956", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 328, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the blue vase", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4069", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown dried fish with rough texture and place it next to the bulbous shiny gold vase", "object_name": "objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4187", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black pan and place it next to the transparent soap bottle", "object_name": "cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4253", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the red glove", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4293", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black electronic keypad with green display and place it next to the yellow glass cutter tool", "object_name": "objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4329", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mechanical gauntlet and place it next to the blue glossy ceramic vase", "object_name": "objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the metallic blue laptop", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marble wedge with markings and place it next to the mosaicfragment", "object_name": "objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4481", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple snowman card and place it next to the blue metallic toaster with buttons", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with branding and place it next to the narwhal skull", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray keypad with numbers and place it next to the traditional wooden rubber stamp with metal", "object_name": "objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4684", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 430, "task_description": "Pick up the wooden house keyholder and place it next to the realistic pink gradient starfish model", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoothing iron and place it next to the handheld white and orange tape dispenser", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728/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 black rail with holes and arms and place it next to the smooth red apple", "object_name": "objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4811", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic yellow striped wasp and place it next to the rustic carved wooden block", "object_name": "objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the glossy black dog statue sitting", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the device and place it next to the cream horseshoe neck pillow", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorativebird and place it next to the light-colored paper origami crane with wings", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electricaltransformer and place it next to the smooth white ceramic serving bowl", "object_name": "objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5180", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty ring and place it next to the golden mace with black handle", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5219", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mint pawn and place it next to the modern silver toaster with blue accents", "object_name": "objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative sign and place it next to the smooth green apple", "object_name": "objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black rail mount with slots and place it next to the bread", "object_name": "objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5568", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the red rosebud turquoise stem", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the muffler and place it next to the beige weathered animal jawbone", "object_name": "objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved pink petal and place it next to the sprayer", "object_name": "objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_579", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the aerosol and place it next to the blue staple gun", "object_name": "objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5830", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red cylindrical roller and place it next to the small gold dog statue", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark chocolate cube with pink and place it next to the container", "object_name": "objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5977", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dispenser and place it next to the red potato", "object_name": "soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple rectangular packet with cupcake and place it next to the dark red hardcover journal with pages", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow wide terracotta bowl and place it next to the gray polished human hand statue", "object_name": "bowl_4d97da0c296398947839b0e020453a0f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6227", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the french bulldog sculpture and place it next to the irregular yellow porous sponge object", "object_name": "objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_625", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 41, "task_description": "Pick up the wide rustic terracotta bowl speckled and place it next to the blue soap bottle with orange pump", "object_name": "objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6282", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic ceramic bowl with patterns and place it next to the gold pump bottle", "object_name": "objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6328", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stake with red spherical top and place it next to the decorative star", "object_name": "objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the small green packet", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple spray bottle with white nozzle and place it next to the paint can", "object_name": "atomizer_973bce9435d852757b03afc168e4c1df_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6548", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soup can and place it next to the irishpotato", "object_name": "objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6548", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue handheld ergonomic 3d scanner and place it next to the crockery", "object_name": "obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chain and place it next to the brown chihuahua", "object_name": "objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6722", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with blue screen and place it next to the white spine book", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand drill and place it next to the blocky pixelated hammer", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6917", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage iron nutcracker and place it next to the decorative plate", "object_name": "objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_694", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the gray hardcover book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6987", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy box and place it next to the detailed visible desert camouflage tank", "object_name": "objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7042", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white ergonomic handheld device with display and place it next to the wooden house with hooks", "object_name": "objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white scepter and place it next to the red bomb with timer and wires", "object_name": "objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige vintage calculator with antenna and place it next to the gray laptop", "object_name": "objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7304", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoke grenade and place it next to the red tomato", "object_name": "objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_734", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cleaning squeegee and place it next to the blue porous cleaning sponge", "object_name": "objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy orange bell pepper with stem and place it next to the irish potato", "object_name": "objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentality and place it next to the white embossed wedding card", "object_name": "objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7475", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden brush and place it next to the plump raw yellow chicken", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7576", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative brown helmet with straps and place it next to the vintage wooden telephone", "object_name": "objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7676", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handled curved sickle and place it next to the yellow and orange fish submarine", "object_name": "objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7777", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the taper and place it next to the lighthouse with striped tower", "object_name": "objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7868", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold ornament and place it next to the soft white pillow with quilting", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp with threaded rod and bolt and place it next to the red book", "object_name": "objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver sturdy metal hinge and place it next to the smooth yellow apple with stem", "object_name": "objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8081", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white shell with blue accents and place it next to the bulbous shiny gold vase", "object_name": "objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8141", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vessel and place it next to the smooth elongated tan loaf", "object_name": "objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8232", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 176, "task_description": "Pick up the brown bird and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8312", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber mallet with wooden handle and place it next to the white 2% milk carton with branding", "object_name": "objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8389", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the binoculars and place it next to the open shark jaws", "object_name": "objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8460", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy square dark chocolate and place it next to the red tomato", "object_name": "objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8542", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow striped bee and place it next to the fresh medium green romaine lettuce", "object_name": "objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8648", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact handheld gimbal camera with screen and place it next to the golden brown artisanal bread", "object_name": "objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white remote control with colorful buttons and place it next to the smooth green rectangular pillow", "object_name": "objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_879", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat, elongated handle with hole and place it next to the fresh spherical green lettuce", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8833", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 88, "task_description": "Pick up the butt hinge and place it next to the yellowed parchment with red wax seal", "object_name": "objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handmirror and place it next to the medieval soldier with spear", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cast iron teapot with autumn leaves and place it next to the red conical flower with leaves", "object_name": "objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black decorative sign with guitar and place it next to the blue handled scissors", "object_name": "objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9092", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp kitchen knife with wooden handle and place it next to the compact blue toaster", "object_name": "objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wall hook and place it next to the yellow vase", "object_name": "objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9187", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green seedling in terracotta pot and place it next to the medium cardboard box with flaps", "object_name": "objaplantpot_51030882447e428a8efec83649ee3172_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9187", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy slender curved green stick and place it next to the metal spear", "object_name": "objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade and place it next to the small brown oval potato", "object_name": "objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the dark metal cooking pot", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital watch and place it next to the black radio control transmitter", "object_name": "objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark horse knight chess piece and place it next to the light gray wooden bowl", "object_name": "objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate dark wooden molding with carvings and place it next to the large mottled bone vertebra", "object_name": "objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pink cheese wedge and place it next to the green apple", "object_name": "objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9651", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand and place it next to the slim blue phone device", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the brown fish with large eyes", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9887", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stoneaxe and place it next to the white hardcover academic book", "object_name": "objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0
+latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0
+latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0
+latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0
+latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0
+latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0
+latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0
+latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0
+latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0
+latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377
+latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0
+latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0
+latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622
+latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686
+latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591
+latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0
+latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0
+latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/summary.json

@@ -0,0 +1,204 @@
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/episode_results.jsonl

@@ -0,0 +1,120 @@
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+{"house_id": "house_1180", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark floral mug and place it next to the transparent tall wine glass", "object_name": "objamug_a30aab65d235438bbfc6699faaea762d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1260", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the loudspeaker and place it next to the teal hardcover book with colorful spine", "object_name": "objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1332", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handled polished kitchen knife and place it next to the rectangular dark non-stick frying pan", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1399", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 319, "task_description": "Pick up the compact holographic weapon sight and place it next to the rectangular pillow with earthy stripes", "object_name": "objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1536", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny and place it next to the dark glossy hardcover book with gold", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall yellow poster with woman and place it next to the soapdispenser", "object_name": "objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1732", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black folding knife with accent and place it next to the translucent ergonomic spray bottle", "object_name": "objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pill bottle and place it next to the golden star badge", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781/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 red tdk vhs tape and place it next to the soap bottle", "object_name": "objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red jewelry box with mirror and place it next to the plant life", "object_name": "objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2090", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic juicer with three legs and place it next to the olive scalloped ceramic plate", "object_name": "objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the heavy-duty metal shackle and place it next to the octagonal translucent soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden caduceus with serpents and wings and place it next to the white square bowl", "object_name": "objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2433", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue blades and place it next to the square blue plate", "object_name": "objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the street sign and place it next to the sleek slim dark phone with camera", "object_name": "objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2597", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek ipod with screen and wheel and place it next to the colorful dodecahedron with text", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2683", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal vintage handheld camera and place it next to the yellow handled polished kitchen knife", "object_name": "objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2824", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the octagonal silver plate and place it next to the steel pot", "object_name": "plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2891", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black modern microphone and place it next to the ornate gray crown with lettering", "object_name": "objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3007", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it next to the pink classical draped relief", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3120", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green bullet and place it next to the bronze full-figured statue", "object_name": "objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the piece and place it next to the vintage radio with wooden exterior", "object_name": "objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3272", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the blue spray bottle with nozzle", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3331", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it next to the bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the portable computer", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3483", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 136, "task_description": "Pick up the white playing card with black skull and place it next to the rectangular dark gray tufted pillow", "object_name": "objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp holding dark stone and place it next to the dark glossy hardcover book", "object_name": "objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall slender brown wooden bottle and place it next to the bronze full-figured statue", "object_name": "objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3610", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray bird with orange beak and place it next to the medium smooth red apple", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato with stem and place it next to the gold vase", "object_name": "objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the slideprojector", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3864", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3956", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 328, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the blue vase", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4069", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown dried fish with rough texture and place it next to the bulbous shiny gold vase", "object_name": "objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4187", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black pan and place it next to the transparent soap bottle", "object_name": "cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4253", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the red glove", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4293", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black electronic keypad with green display and place it next to the yellow glass cutter tool", "object_name": "objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4329", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mechanical gauntlet and place it next to the blue glossy ceramic vase", "object_name": "objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the metallic blue laptop", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marble wedge with markings and place it next to the mosaicfragment", "object_name": "objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4481", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple snowman card and place it next to the blue metallic toaster with buttons", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with branding and place it next to the narwhal skull", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray keypad with numbers and place it next to the traditional wooden rubber stamp with metal", "object_name": "objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4684", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 430, "task_description": "Pick up the wooden house keyholder and place it next to the realistic pink gradient starfish model", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoothing iron and place it next to the handheld white and orange tape dispenser", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728/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 black rail with holes and arms and place it next to the smooth red apple", "object_name": "objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4811", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic yellow striped wasp and place it next to the rustic carved wooden block", "object_name": "objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the glossy black dog statue sitting", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the device and place it next to the cream horseshoe neck pillow", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorativebird and place it next to the light-colored paper origami crane with wings", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electricaltransformer and place it next to the smooth white ceramic serving bowl", "object_name": "objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5180", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty ring and place it next to the golden mace with black handle", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5219", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mint pawn and place it next to the modern silver toaster with blue accents", "object_name": "objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative sign and place it next to the smooth green apple", "object_name": "objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black rail mount with slots and place it next to the bread", "object_name": "objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5568", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the red rosebud turquoise stem", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the muffler and place it next to the beige weathered animal jawbone", "object_name": "objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved pink petal and place it next to the sprayer", "object_name": "objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_579", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the aerosol and place it next to the blue staple gun", "object_name": "objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5830", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red cylindrical roller and place it next to the small gold dog statue", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark chocolate cube with pink and place it next to the container", "object_name": "objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5977", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dispenser and place it next to the red potato", "object_name": "soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple rectangular packet with cupcake and place it next to the dark red hardcover journal with pages", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shallow wide terracotta bowl and place it next to the gray polished human hand statue", "object_name": "bowl_4d97da0c296398947839b0e020453a0f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6227", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the french bulldog sculpture and place it next to the irregular yellow porous sponge object", "object_name": "objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_625", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 41, "task_description": "Pick up the wide rustic terracotta bowl speckled and place it next to the blue soap bottle with orange pump", "object_name": "objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6282", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic ceramic bowl with patterns and place it next to the gold pump bottle", "object_name": "objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6328", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stake with red spherical top and place it next to the decorative star", "object_name": "objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the small green packet", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple spray bottle with white nozzle and place it next to the paint can", "object_name": "atomizer_973bce9435d852757b03afc168e4c1df_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6548", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soup can and place it next to the irishpotato", "object_name": "objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6548", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue handheld ergonomic 3d scanner and place it next to the crockery", "object_name": "obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chain and place it next to the brown chihuahua", "object_name": "objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6722", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with blue screen and place it next to the white spine book", "object_name": "objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand drill and place it next to the blocky pixelated hammer", "object_name": "objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6917", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage iron nutcracker and place it next to the decorative plate", "object_name": "objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_694", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall golden spike with base and place it next to the gray hardcover book", "object_name": "objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6987", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy box and place it next to the detailed visible desert camouflage tank", "object_name": "objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7042", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white ergonomic handheld device with display and place it next to the wooden house with hooks", "object_name": "objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white scepter and place it next to the red bomb with timer and wires", "object_name": "objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige vintage calculator with antenna and place it next to the gray laptop", "object_name": "objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7304", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoke grenade and place it next to the red tomato", "object_name": "objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_734", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cleaning squeegee and place it next to the blue porous cleaning sponge", "object_name": "objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy orange bell pepper with stem and place it next to the irish potato", "object_name": "objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentality and place it next to the white embossed wedding card", "object_name": "objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7475", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden brush and place it next to the plump raw yellow chicken", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7576", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative brown helmet with straps and place it next to the vintage wooden telephone", "object_name": "objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7676", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handled curved sickle and place it next to the yellow and orange fish submarine", "object_name": "objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7777", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the taper and place it next to the lighthouse with striped tower", "object_name": "objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7868", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold ornament and place it next to the soft white pillow with quilting", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp with threaded rod and bolt and place it next to the red book", "object_name": "objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver sturdy metal hinge and place it next to the smooth yellow apple with stem", "object_name": "objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8081", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white shell with blue accents and place it next to the bulbous shiny gold vase", "object_name": "objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8141", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vessel and place it next to the smooth elongated tan loaf", "object_name": "objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8232", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 176, "task_description": "Pick up the brown bird and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8312", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber mallet with wooden handle and place it next to the white 2% milk carton with branding", "object_name": "objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8389", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the binoculars and place it next to the open shark jaws", "object_name": "objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8460", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy square dark chocolate and place it next to the red tomato", "object_name": "objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8542", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow striped bee and place it next to the fresh medium green romaine lettuce", "object_name": "objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8648", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact handheld gimbal camera with screen and place it next to the golden brown artisanal bread", "object_name": "objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white remote control with colorful buttons and place it next to the smooth green rectangular pillow", "object_name": "objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_879", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat, elongated handle with hole and place it next to the fresh spherical green lettuce", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8833", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 88, "task_description": "Pick up the butt hinge and place it next to the yellowed parchment with red wax seal", "object_name": "objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handmirror and place it next to the medieval soldier with spear", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cast iron teapot with autumn leaves and place it next to the red conical flower with leaves", "object_name": "objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black decorative sign with guitar and place it next to the blue handled scissors", "object_name": "objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9092", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp kitchen knife with wooden handle and place it next to the compact blue toaster", "object_name": "objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wall hook and place it next to the yellow vase", "object_name": "objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9187", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green seedling in terracotta pot and place it next to the medium cardboard box with flaps", "object_name": "objaplantpot_51030882447e428a8efec83649ee3172_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9187", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy slender curved green stick and place it next to the metal spear", "object_name": "objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade and place it next to the small brown oval potato", "object_name": "objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the dark metal cooking pot", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital watch and place it next to the black radio control transmitter", "object_name": "objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark horse knight chess piece and place it next to the light gray wooden bowl", "object_name": "objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate dark wooden molding with carvings and place it next to the large mottled bone vertebra", "object_name": "objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pink cheese wedge and place it next to the green apple", "object_name": "objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9651", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand and place it next to the slim blue phone device", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the brown fish with large eyes", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9887", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stoneaxe and place it next to the white hardcover academic book", "object_name": "objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0
+latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0
+latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0
+latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0
+latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0
+latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0
+latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0
+latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0
+latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0
+latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377
+latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0
+latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0
+latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622
+latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686
+latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591
+latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0
+latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0
+latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0
+latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.218469,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.437515,0.0
+latest,Objadecorativehelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.488363,0.0
+latest,Objadecorativeinsect,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,73.838124,44.594848
+latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.733677,0.0
+latest,Objadecorativepetal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.066293,0.0
+latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.141637,0.0
+latest,Objadecorativerod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.147745,0.0
+latest,Objadecorativescepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.416899,0.0
+latest,Objadecorativesign,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.986853,9.28702
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.651175,0.0
+latest,Objaelectricaltransformer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.702666,0.0
+latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.780154,0.0
+latest,Objafoodpacket,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,53.519406,0.968604
+latest,Objagardenstake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.385969,0.0
+latest,Objagimbalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.770689,0.0
+latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.059234,0.0
+latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.552821,0.0
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,99.009723,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.959346,0.0
+latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.668261,0.0
+latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.540213,0.0
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.520973,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.471631,0.0
+latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.62725,0.0
+latest,Objahinge,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,83.924619,53.271144
+latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.573134,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,267.882196,0.0
+latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.917352,0.0
+latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.22058,0.0
+latest,Objakeyholder,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.340989,0.0
+latest,Objakeypad,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.34343,11.956362
+latest,Objakitchenknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.858539,0.0
+latest,Objalinearrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.554712,0.0
+latest,Objamarbleslab,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.592743,0.0
+latest,Objamechanicalgauntlet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.016795,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.59923,0.0
+latest,Objamicrophone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.116286,0.0
+latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.40643,0.0
+latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.989303,0.0
+latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.388664,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.479633,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.497882,0.0
+latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.229201,0.0
+latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.043604,0.0
+latest,Objapackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.196791,0.0
+latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,195.591818,0.0
+latest,Objapillbottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,203.791763,153.022191
+latest,Objaplantpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.69721,0.0
+latest,Objaplayingcard,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.552917,0.0
+latest,Objapocketknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.450926,0.0
+latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.900666,0.0
+latest,Objaposter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,147.57565,0.0
+latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.238261,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.469439,0.0
+latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.569314,0.0
+latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.501954,0.0
+latest,Objasculpture,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.39125,0.0
+latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.115131,0.0
+latest,Objashockabsorber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.796724,0.0
+latest,Objasickle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.066719,0.0
+latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.443405,0.0
+latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.125469,0.0
+latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.786711,0.0
+latest,Objasoupcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201698,0.0
+latest,Objaspike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.362972,0.0
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.109361,0.0
+latest,Objasqueegee,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.29069,0.0
+latest,Objastoneaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.307944,0.0
+latest,Objastonedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.669645,0.0
+latest,Objateapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.954963,0.0
+latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.051492,0.0
+latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.859374,0.0
+latest,Objatoystoragebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.930972,0.0
+latest,Objavhscassette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.968658,0.0
+latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.15672,0.0
+latest,Objawallet,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,59.199216,8.729178
+latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.953911,0.0
+latest,Objaweaponsight,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,44.62374,0.0
+latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.414778,0.0
+latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.761037,0.0
+latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.864132,0.0
+latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.88873,0.0
+latest,OVERALL,8,120,6.67,3.46,12.61,8,6.67,3.46,12.61,50.146649,46.510438

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/shard_00_results.csv

@@ -0,0 +1,113 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0
+latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0
+latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0
+latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0
+latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0
+latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0
+latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0
+latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0
+latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0
+latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0
+latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0
+latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0
+latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0
+latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377
+latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0
+latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0
+latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622
+latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686
+latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591
+latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0
+latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0
+latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0
+latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.218469,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.437515,0.0
+latest,Objadecorativehelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.488363,0.0
+latest,Objadecorativeinsect,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,73.838124,44.594848
+latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.733677,0.0
+latest,Objadecorativepetal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.066293,0.0
+latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.141637,0.0
+latest,Objadecorativerod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.147745,0.0
+latest,Objadecorativescepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.416899,0.0
+latest,Objadecorativesign,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.986853,9.28702
+latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.651175,0.0
+latest,Objaelectricaltransformer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.702666,0.0
+latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.780154,0.0
+latest,Objafoodpacket,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,53.519406,0.968604
+latest,Objagardenstake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.385969,0.0
+latest,Objagimbalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.770689,0.0
+latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.059234,0.0
+latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.552821,0.0
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,99.009723,0.0
+latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.959346,0.0
+latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.668261,0.0
+latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.540213,0.0
+latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.520973,0.0
+latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.471631,0.0
+latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.62725,0.0
+latest,Objahinge,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,83.924619,53.271144
+latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.573134,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,267.882196,0.0
+latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.917352,0.0
+latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.22058,0.0
+latest,Objakeyholder,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.340989,0.0
+latest,Objakeypad,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.34343,11.956362
+latest,Objakitchenknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.858539,0.0
+latest,Objalinearrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.554712,0.0
+latest,Objamarbleslab,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.592743,0.0
+latest,Objamechanicalgauntlet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.016795,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.59923,0.0
+latest,Objamicrophone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.116286,0.0
+latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.40643,0.0
+latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.989303,0.0
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+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.479633,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/submission_manifest.json

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pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/summary.json

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pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

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+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'),
+ '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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ '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': ['droid_shoulder_light_randomization',
+                                    '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': 'droid_shoulder_light_randomization',
+                   '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': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   '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': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  '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': [167,
+                                        303,
+                                        361,
+                                        376,
+                                        482,
+                                        518,
+                                        591,
+                                        628,
+                                        699,
+                                        744,
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+                                        8848,
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+                                        9327,
+                                        9431,
+                                        9511,
+                                        9591,
+                                        9660,
+                                        9742,
+                                        9850,
+                                        9899],
+                         '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': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         '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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 167 (index 0/120)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 167 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 12:05:16 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]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_167_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:34 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:34 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the purple blaster and place it next to the tall dark cup with ridges base'	[task_sampler.py: 1136]
+05/26 12:05:36 INFO: [Worker 0] Worker 0 house 167 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:13:08 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]
+05/26 12:59:09 INFO: [Worker 0] Worker 0 house 167 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 12:59:16 INFO: [Worker 0] Batching and saving trajectory data for house_167: 1 episodes	[pipeline.py: 233]
+05/26 12:59:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 12:59:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 12:59:23 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_167	[save_utils.py: 703]
+05/26 12:59:23 INFO: [Worker 0] Successfully saved trajectory data for house_167 in 6.52s (batch: 6.22s, save: 0.30s)	[pipeline.py: 280]
+05/26 12:59:24 WARNING: [Worker 0] No trajectory data to save for house_167	[pipeline.py: 229]
+05/26 12:59:24 INFO: [Worker 0] Worker 0 completed house 167: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 12:59:24 INFO: [Worker 0] Worker 0 starting house 303 (index 1/120)	[pipeline.py: 473]
+05/26 12:59:24 INFO: [Worker 0] Loaded 1 episodes for house 303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 12:59:24 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]
+05/26 12:59:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_303_ceiling.xml	[task_sampler.py: 797]
+05/26 12:59:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=303, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:59:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:59:30 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects	[json_eval_task_sampler.py: 686]
+05/26 12:59:30 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:59:30 INFO: [Worker 0] Sampled task 'Pick up the arrowhead and place it next to the small brown house with brick walls'	[task_sampler.py: 1136]
+05/26 12:59:30 INFO: [Worker 0] Worker 0 house 303 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:59:30 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:45:29 INFO: [Worker 0] Worker 0 house 303 episode 0 object objadecorativeartifact_c1a2d05e1af049f0b0dd2899b2572cd7_1_0_3 completed with success=False	[pipeline.py: 1114]
+05/26 13:45:41 INFO: [Worker 0] Batching and saving trajectory data for house_303: 1 episodes	[pipeline.py: 233]
+05/26 13:45:41 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 13:45:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 13:45:48 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_303	[save_utils.py: 703]
+05/26 13:45:48 INFO: [Worker 0] Successfully saved trajectory data for house_303 in 6.64s (batch: 6.47s, save: 0.18s)	[pipeline.py: 280]
+05/26 13:45:49 WARNING: [Worker 0] No trajectory data to save for house_303	[pipeline.py: 229]
+05/26 13:45:49 INFO: [Worker 0] Worker 0 completed house 303: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 13:45:49 INFO: [Worker 0] Worker 0 starting house 361 (index 2/120)	[pipeline.py: 473]
+05/26 13:45:49 INFO: [Worker 0] Loaded 1 episodes for house 361 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 13:45:49 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]
+05/26 13:46:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_361_ceiling.xml	[task_sampler.py: 797]
+05/26 13:46:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=361, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:46:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:46:22 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/26 13:46:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:46:22 INFO: [Worker 0] Sampled task 'Pick up the light blue cat with yellow patterns and place it next to the green plant in pot'	[task_sampler.py: 1136]
+05/26 13:46:22 INFO: [Worker 0] Worker 0 house 361 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 13:46:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:52:56 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]
+05/26 15:23:17 INFO: [Worker 0] Worker 0 house 361 episode 0 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 15:23:28 INFO: [Worker 0] Batching and saving trajectory data for house_361: 1 episodes	[pipeline.py: 233]
+05/26 15:23:28 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 15:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 15:23:37 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_361	[save_utils.py: 703]
+05/26 15:23:37 INFO: [Worker 0] Successfully saved trajectory data for house_361 in 8.94s (batch: 8.64s, save: 0.30s)	[pipeline.py: 280]
+05/26 15:23:39 WARNING: [Worker 0] No trajectory data to save for house_361	[pipeline.py: 229]
+05/26 15:23:39 INFO: [Worker 0] Worker 0 completed house 361: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 15:23:39 INFO: [Worker 0] Worker 0 starting house 376 (index 3/120)	[pipeline.py: 473]
+05/26 15:23:39 INFO: [Worker 0] Loaded 2 episodes for house 376 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 15:23:39 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]
+05/26 15:24:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_376_ceiling.xml	[task_sampler.py: 797]
+05/26 15:24:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 15:24:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 15:24:08 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 15:24:08 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 15:24:08 INFO: [Worker 0] Sampled task 'Pick up the black capsule and place it next to the realistic yellow crab'	[task_sampler.py: 1136]
+05/26 15:24:08 INFO: [Worker 0] Worker 0 house 376 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 15:24:09 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 15:24:09 WARNING: [Worker 0] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_5 in scene	[object_manager.py: 1238]
+05/26 15:29:51 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]
+05/26 16:22:03 INFO: [Worker 0] Worker 0 house 376 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 16:22:13 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]
+05/26 16:22:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_376_ceiling.xml	[task_sampler.py: 797]
+05/26 16:22:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:22:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:22:23 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 16:22:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:22:23 INFO: [Worker 0] Sampled task 'Pick up the garden hose nozzle and place it next to the bulbous shiny gold vase'	[task_sampler.py: 1136]
+05/26 16:22:23 INFO: [Worker 0] Worker 0 house 376 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 16:22:23 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:22:24 WARNING: [Worker 0] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_5 in scene	[object_manager.py: 1238]
+05/26 16:28:07 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]
+05/26 17:18:11 INFO: [Worker 0] Worker 0 house 376 episode 1 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 17:18:19 INFO: [Worker 0] Batching and saving trajectory data for house_376: 2 episodes	[pipeline.py: 233]
+05/26 17:18:19 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 17:18:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 17:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 17:18:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 17:18:32 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_376	[save_utils.py: 703]
+05/26 17:18:32 INFO: [Worker 0] Successfully saved trajectory data for house_376 in 12.50s (batch: 11.92s, save: 0.58s)	[pipeline.py: 280]
+05/26 17:18:32 WARNING: [Worker 0] No trajectory data to save for house_376	[pipeline.py: 229]
+05/26 17:18:32 INFO: [Worker 0] Worker 0 completed house 376: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 17:18:32 INFO: [Worker 0] Worker 0 starting house 482 (index 4/120)	[pipeline.py: 473]
+05/26 17:18:32 INFO: [Worker 0] Loaded 1 episodes for house 482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 17:18:32 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]
+05/26 17:18:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_482_ceiling.xml	[task_sampler.py: 797]
+05/26 17:18:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 17:18:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 17:18:40 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects	[json_eval_task_sampler.py: 686]
+05/26 17:18:40 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 17:18:40 INFO: [Worker 0] Sampled task 'Pick up the compact black electronic device with lens and place it next to the small rectangular wooden box'	[task_sampler.py: 1136]
+05/26 17:18:40 INFO: [Worker 0] Worker 0 house 482 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 17:18:40 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 17:24:02 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]
+05/26 18:13:45 INFO: [Worker 0] Worker 0 house 482 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_7 completed with success=False	[pipeline.py: 1114]
+05/26 18:13:55 INFO: [Worker 0] Batching and saving trajectory data for house_482: 1 episodes	[pipeline.py: 233]
+05/26 18:13:55 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:14:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:14:03 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_482	[save_utils.py: 703]
+05/26 18:14:03 INFO: [Worker 0] Successfully saved trajectory data for house_482 in 7.55s (batch: 7.33s, save: 0.22s)	[pipeline.py: 280]
+05/26 18:14:04 WARNING: [Worker 0] No trajectory data to save for house_482	[pipeline.py: 229]
+05/26 18:14:04 INFO: [Worker 0] Worker 0 completed house 482: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:14:04 INFO: [Worker 0] Worker 0 starting house 518 (index 5/120)	[pipeline.py: 473]
+05/26 18:14:04 INFO: [Worker 0] Loaded 1 episodes for house 518 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 18:14:04 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]
+05/26 18:14:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_518_ceiling.xml	[task_sampler.py: 797]
+05/26 18:14:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=518, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:14:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:14:27 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 18:14:27 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:14:27 INFO: [Worker 0] Sampled task 'Pick up the bronze human statue and place it next to the fresh spherical green lettuce with stem'	[task_sampler.py: 1136]
+05/26 18:14:27 INFO: [Worker 0] Worker 0 house 518 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:14:27 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:14:28 WARNING: [Worker 0] Could not find object objafishsculpture_923adf85919b43739cac4bfb4e2777d0_1_0_2 in scene	[object_manager.py: 1238]
+05/26 18:14:28 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_2 in scene	[object_manager.py: 1238]
+05/26 18:14:28 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_3 in scene	[object_manager.py: 1238]
+05/26 18:19:44 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]
+05/26 19:03:54 INFO: [Worker 0] Worker 0 house 518 episode 0 object statue_da4a8f1a0bdae66afec8d4581e3d4544_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 19:04:03 INFO: [Worker 0] Batching and saving trajectory data for house_518: 1 episodes	[pipeline.py: 233]
+05/26 19:04:03 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 19:04:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 19:04:10 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_518	[save_utils.py: 703]
+05/26 19:04:10 INFO: [Worker 0] Successfully saved trajectory data for house_518 in 6.47s (batch: 6.29s, save: 0.18s)	[pipeline.py: 280]
+05/26 19:04:11 WARNING: [Worker 0] No trajectory data to save for house_518	[pipeline.py: 229]
+05/26 19:04:11 INFO: [Worker 0] Worker 0 completed house 518: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 19:04:11 INFO: [Worker 0] Worker 0 starting house 591 (index 6/120)	[pipeline.py: 473]
+05/26 19:04:11 INFO: [Worker 0] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01	[json_eval_runner.py: 278]
+05/26 19:04:11 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]
+05/26 19:04:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_591_ceiling.xml	[task_sampler.py: 797]
+05/26 19:04:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=591, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 19:04:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 19:04:36 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects	[json_eval_task_sampler.py: 686]
+05/26 19:04:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 19:04:36 INFO: [Worker 0] Sampled task 'Pick up the large rusty metal nail and place it next to the fresh round green lettuce'	[task_sampler.py: 1136]
+05/26 19:04:36 INFO: [Worker 0] Worker 0 house 591 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 19:04:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 19:04:37 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene	[object_manager.py: 1238]
+05/26 19:04:37 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene	[object_manager.py: 1238]
+05/26 19:04:37 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene	[object_manager.py: 1238]
+05/26 19:04:37 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene	[object_manager.py: 1238]
+05/26 19:10:15 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]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information
+    observation = self.get_observations()
+                  ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations
+    env_obs = self._sensor_suite.get_observations(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations
+    return {
+           ^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in <dictcomp>
+    uuid: sensor.get_observation(env=env, task=task, **kwargs)  # type: ignore
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation
+    info = task.get_info()[batch_index]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info
+    p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb
+    aabb_min = np.min(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher
+    def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None,
+    
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/episode_results.jsonl

@@ -0,0 +1,118 @@
+{"house_id": "house_1065", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the small glossy turquoise eye of horus amulet", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1184", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic round clay dish with handles and place it next to the transparent tall wine glass", "object_name": "objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1265", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red u-shaped magnet and place it next to the smooth green rectangular pillow cushion", "object_name": "objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1339", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal bolt and place it next to the simple light brown ceramic bowl", "object_name": "objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1415", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the clothes iron and place it next to the rusty adjustable metal wrench", "object_name": "objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1552", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage brown leather helmet and place it next to the pink and black toy sniper rifle", "object_name": "objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1667", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold and white cross medal and place it next to the light blue plastic bottle", "object_name": "objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1734", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray matte bowl with ridges and place it next to the glossy yellow vase rounded", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1793", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the irregular pale off-white rawhide piece and place it next to the miniature tall column with golden statue", "object_name": "objarawhide_45af38b66555426a8c719a7507a35930_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue pcb and place it next to the soft orange plaid pillow cushion", "object_name": "objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2025", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall cream colored candle and place it next to the green plastic spray bottle with nozzle", "object_name": "objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2025/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2094", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 169, "task_description": "Pick up the ancient greek black cup and place it next to the rectangular yellow plaid pillow", "object_name": "objakylix_d9cc347595664f83bc1461c857756452_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2094/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2201", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black grenade with red panels and place it next to the sharp black knife", "object_name": "objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2201/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2331", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful ceramic decorative bowl and place it next to the black fish with fins", "object_name": "objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2331/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2434", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact camouflage weapon sight with reticle and place it next to the muscular dark glossy statue standing", "object_name": "objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2434/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2490", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red lava spike and place it next to the houseplant", "object_name": "objadecorativespike_0b7f50f543a24b84939dcb9a12754534_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2490/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the golden brown loaf of bread", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2599/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2724", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc with white airplane icon and place it next to the explosive device", "object_name": "objadecorativedisc_26490714f2394b508764726a9341aefe_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2724/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2834", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black chef knife and place it next to the glossy green cup with flared rim", "object_name": "objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2892", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesivetape and place it next to the soapdispenser", "object_name": "objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2892/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld mirror and place it next to the decorative bird", "object_name": "objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3122", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the container and place it next to the sorbent", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metal clamp and place it next to the cassette recorder", "object_name": "objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3273", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the solid food and place it next to the classic blue and white camper van", "object_name": "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue clock and place it next to the rustic ceramic bowl with handles", "object_name": "alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3409", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige sponge and place it next to the white spine thin book", "object_name": "objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3500", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and yellow handheld radio and place it next to the gray sculpture with textured indentations", "object_name": "objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black rail mount with slots and place it next to the simple light brown ceramic bowl", "object_name": "objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3677", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pot and place it next to the lettuce", "object_name": "objacookingpot_491cd880ee9949758492015247cd04da_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorativescript and place it next to the vegetable", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3816", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wrench tool with hexagonal opening and place it next to the smooth brown egg", "object_name": "objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3816", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and black pliers and place it next to the small grassy patch with dirt", "object_name": "objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round soft fuzzy peach and place it next to the red toy rocket with fins", "object_name": "objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green alien bust and place it next to the brown bread", "object_name": "objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterfly knife with colorful gradient blade and place it next to the bulbous shiny gold metallic vase", "object_name": "objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4191", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the disposable coffee cup and place it next to the gray hand statue", "object_name": "objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4255", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender greenish-gray pointed stone arrowhead and place it next to the colorful red bird", "object_name": "objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4298", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small white bird and place it next to the green hardcover book titled the effective engineer", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4345", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow card featuring snoopy flowers and place it next to the wooden roller with spikes and carving", "object_name": "objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4439", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden lemon squeezer and place it next to the amber cylindrical prescription pill bottle", "object_name": "objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cutter and place it next to the simple light brown ceramic bowl", "object_name": "objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4636", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless angle grinder tool and place it next to the black wall hook with red accent", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4685", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light rectangular amulet with seated figure and place it next to the lifelike dark stag beetle", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4696", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden truck and place it next to the blue bottle", "object_name": "objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4696", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact camouflage tactical pouch with buckle and place it next to the small shiny gold dog statue", "object_name": "objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4731", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow candle with white wax top and place it next to the black rugged tablet with touchscreen buttons", "object_name": "objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4821", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 272, "task_description": "Pick up the slender smooth beige animal horn and place it next to the soapdispenser", "object_name": "objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4917", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical chicken figure in costume and place it next to the small green house plant", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handbell with wooden handle and brass and place it next to the adjustable metal wrench with handle", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5103", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the red envelope with triangular gray flap", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5181", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red strawberry with green leaves and place it next to the yellow white package with curry", "object_name": "objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5248", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic razor with wooden handle and place it next to the glossy green arrowhead shaped leaf", "object_name": "objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5418", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 112, "task_description": "Pick up the mosaic fragment and place it next to the white toilet paper roll", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5507", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 168, "task_description": "Pick up the gold headphones with red padding and place it next to the green smartphone with black touchscreen", "object_name": "objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5578", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the textured red pomegranate and place it next to the fresh green lettuce", "object_name": "objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white saturn v rocket with markings and place it next to the orange plaid pillow cushion", "object_name": "objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5708", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the amber cylindrical prescription pill bottle and place it next to the foodstuff", "object_name": "objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal hinge with pivot and place it next to the dark muscular statue standing dynamically", "object_name": "objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the serene stone statue with patterned robe and place it next to the silver bullet with red band tip", "object_name": "objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large rusty metal nail and place it next to the fresh round green lettuce", "object_name": "objanail_7ef93eea9c5349abb276931726681dc3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand axe and place it next to the slim pink cellphone with buttons", "object_name": "objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6083", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone and place it next to the detailed red and white race car", "object_name": "objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soapdispenser and place it next to the spray", "object_name": "soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it next to the blue bomb with white skull emblem", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it next to the shiny gold vase", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black hat yellow plume and place it next to the green lenses on night vision goggles", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown moth and place it next to the rectangular dark teal box", "object_name": "objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red wall-mounted rotary telephone and place it next to the light blue labeled cleaning bottle", "object_name": "objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6515", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 84, "task_description": "Pick up the red torii gate with black and place it next to the tall black top hat", "object_name": "objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6616", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic lid with handle and place it next to the small red potato with texture", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6733", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the white ceramic vase with ridges", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6787", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark angular architectural cornice and place it next to the plesiosaurus", "object_name": "objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6787", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vr headset with antennas and place it next to the shiny metallic key with notches", "object_name": "objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6819", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it next to the bulbous shiny gold vase", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the nightvisiongoggles and place it next to the glossy blue vase", "object_name": "objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray polished human hand statue and place it next to the large black hardcover book titled noughts", "object_name": "statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with pink and place it next to the white rabbit pink eyes", "object_name": "objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eye model and place it next to the medium red apple", "object_name": "objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow truck with gray container trailer and place it next to the neuron model", "object_name": "objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it next to the furniture", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow black wasp and place it next to the dark vintage folding camera", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7356", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the irregular brown rock with colorful minerals", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7434", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red scissors with metallic blades and place it next to the light brown soil with skeleton exposed", "object_name": "objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_744", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gas torch and place it next to the white and teal instant camera", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green manual can opener and place it next to the teal spiral wand", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored thick glasses and place it next to the glossy wooden tapered cup", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange delivery van with windows and place it next to the slim blue phone device", "object_name": "objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eggs and place it next to the tall copper cup with ridges", "object_name": "egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown ceramic dish with fish and place it next to the tall clear cup", "object_name": "objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver sword with yellow hilt and gem and place it next to the cutlery", "object_name": "objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek turquoise tape dispenser with base and place it next to the black paint can", "object_name": "objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the iced snowman gingerbread cookie and place it next to the small shiny gold dog statue", "object_name": "objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8177", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it next to the brown wooden gavel", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8235", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold opera glasses and place it next to the brown fedora hat with blue band", "object_name": "objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white connector with multiple yellow wires and place it next to the smooth translucent white bowl", "object_name": "objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8392", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cleaning sponge and place it next to the white tape dispenser", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy sword and place it next to the book", "object_name": "objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8546", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soft flat round bread with spots and place it next to the blue rectangular frying pan", "object_name": "objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lightweight camouflage glider and place it next to the dark plaque", "object_name": "objatoyplane_c210b610454f48488605759aa419c7af_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray video camera with handle and place it next to the stylized gray bird with orange beak", "object_name": "objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue can and place it next to the blue soap bottle with pump", "object_name": "objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8848", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white porcelain candlestick with cherubs and place it next to the light brown rectangular cardboard box", "object_name": "objacandlestick_576b8819466a4775815379687602a788_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage mobile phone and place it next to the smooth yellow apple with stem", "object_name": "objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black curved remote control with buttons and place it next to the orange plaid pillow", "object_name": "objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9033", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpener and place it next to the veg", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9094", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paintbrush with wooden handle and place it next to the blue hardcover book", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the brown cardboard box", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9259", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sculpture and place it next to the yellow handled knife", "object_name": "objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9327", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the golden brown loaf of bread", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown paper bag and place it next to the shallow round metallic cooking pan with handles", "object_name": "objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular component with wires and place it next to the tall white candle on dark holder", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden hand plane with blade and place it next to the cream hardcover unix programming book", "object_name": "objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9660", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the headphone and place it next to the sandglass", "object_name": "objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rubber mallet with handle and place it next to the red tomato", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9850", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black remote control and place it next to the toytower", "object_name": "objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9850", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical pink roofed tower and place it next to the sleek glossy black remote control", "object_name": "objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the bronze full-figured statue", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9899", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vase and place it next to the cream hardcover unix programming book", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv

@@ -0,0 +1,119 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0
+latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0
+latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.810271,0.0
+latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.951698,0.0
+latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0
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+latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0
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+latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.855721,0.0
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+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.737399,0.0
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+latest,Objacookingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.445017,0.0
+latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.461147,0.0
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+latest,Objadecorativebowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.096544,0.0
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+latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.401039,0.0
+latest,Objadecorativedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.22707,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.788523,0.0
+latest,Objadecorativefruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.860287,0.0
+latest,Objadecorativehorn,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,127.968073,0.0
+latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.845244,0.0
+latest,Objadecorativespike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.900974,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.394269,0.0
+latest,Objadisposablecoffeecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.254203,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,144.137325,0.0
+latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.450725,0.0
+latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.735328,0.0
+latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.688235,0.0
+latest,Objaeyemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.315955,0.0
+latest,Objaflatbread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.33332,0.0
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.725728,0.0
+latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.317535,0.0
+latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.625986,0.0
+latest,Objagreetingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,90.902205,54.560064
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.783087,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.412249,0.0
+latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.882461,0.0
+latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.408088,0.0
+latest,Objahandheldradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.639072,0.0
+latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.215134,0.0
+latest,Objaheadphones,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,46.744281,0.0
+latest,Objaheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.963183,0.0
+latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.197697,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.931556,0.0
+latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.337108,0.0
+latest,Objakylix,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,31.816387,0.0
+latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,104.049545,0.0
+latest,Objalid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.188478,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.438863,0.0
+latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.642754,0.0
+latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.653704,0.0
+latest,Objaminiaturemodel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,37.304812,0.0
+latest,Objamodelrocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.832185,0.0
+latest,Objamosaicfragment,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.058611,0.0
+latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.299524,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.002291,0.0
+latest,Objanail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.787437,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.812999,0.0
+latest,Objaoperaglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.288603,0.0
+latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.504123,0.0
+latest,Objapaperbag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.749242,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.020434,0.0
+latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.405483,0.0
+latest,Objapillbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.002932,0.0
+latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.373944,0.0
+latest,Objapomegranate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.243631,0.0
+latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.897148,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.088117,0.0
+latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.795076,0.0
+latest,Objarawhide,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.494243,0.0
+latest,Objaremotecontrol,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,64.131542,24.188897
+latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.13681,0.0
+latest,Objarotarytelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.327643,0.0
+latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.405,0.0
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+latest,Objastoneartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.544631,0.0
+latest,Objastonedisc,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,30.40438,21.997949
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.541408,0.0
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+latest,Objatacticalpouch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.766731,0.0
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+latest,Objatoyplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.857226,0.0
+latest,Objatoysword,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,57.175751,12.564853
+latest,Objatoytower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.817107,0.0
+latest,Objatoytruck,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.237592,0.0
+latest,Objatoyvehicle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.009387,0.0
+latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.779666,0.0
+latest,Objavintagemobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.941818,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.120563,0.0
+latest,Objaweaponsight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.170573,0.0
+latest,Objawrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.825399,0.0
+latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.803449,0.0
+latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.006645,0.0
+latest,Vase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.689979,0.0
+latest,OVERALL,5,118,4.24,1.87,9.53,5,4.24,1.87,9.53,45.009242,35.458973

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/summary.json

@@ -0,0 +1,202 @@
+{
+  "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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
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+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/episode_results.jsonl

@@ -0,0 +1,118 @@
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+{"house_id": "house_1184", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic round clay dish with handles and place it next to the transparent tall wine glass", "object_name": "objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_1339", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal bolt and place it next to the simple light brown ceramic bowl", "object_name": "objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1415", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the clothes iron and place it next to the rusty adjustable metal wrench", "object_name": "objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_3019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld mirror and place it next to the decorative bird", "object_name": "objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3122", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the container and place it next to the sorbent", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metal clamp and place it next to the cassette recorder", "object_name": "objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3273", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the solid food and place it next to the classic blue and white camper van", "object_name": "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue clock and place it next to the rustic ceramic bowl with handles", "object_name": "alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3409", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige sponge and place it next to the white spine thin book", "object_name": "objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3500", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and yellow handheld radio and place it next to the gray sculpture with textured indentations", "object_name": "objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black rail mount with slots and place it next to the simple light brown ceramic bowl", "object_name": "objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3677", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pot and place it next to the lettuce", "object_name": "objacookingpot_491cd880ee9949758492015247cd04da_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorativescript and place it next to the vegetable", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3816", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wrench tool with hexagonal opening and place it next to the smooth brown egg", "object_name": "objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3816", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and black pliers and place it next to the small grassy patch with dirt", "object_name": "objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round soft fuzzy peach and place it next to the red toy rocket with fins", "object_name": "objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green alien bust and place it next to the brown bread", "object_name": "objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterfly knife with colorful gradient blade and place it next to the bulbous shiny gold metallic vase", "object_name": "objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4191", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the disposable coffee cup and place it next to the gray hand statue", "object_name": "objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4255", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender greenish-gray pointed stone arrowhead and place it next to the colorful red bird", "object_name": "objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4298", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small white bird and place it next to the green hardcover book titled the effective engineer", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4345", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow card featuring snoopy flowers and place it next to the wooden roller with spikes and carving", "object_name": "objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4439", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden lemon squeezer and place it next to the amber cylindrical prescription pill bottle", "object_name": "objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cutter and place it next to the simple light brown ceramic bowl", "object_name": "objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4636", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless angle grinder tool and place it next to the black wall hook with red accent", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4685", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light rectangular amulet with seated figure and place it next to the lifelike dark stag beetle", "object_name": "objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4696", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garden truck and place it next to the blue bottle", "object_name": "objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4696", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact camouflage tactical pouch with buckle and place it next to the small shiny gold dog statue", "object_name": "objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4731", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow candle with white wax top and place it next to the black rugged tablet with touchscreen buttons", "object_name": "objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4821", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 272, "task_description": "Pick up the slender smooth beige animal horn and place it next to the soapdispenser", "object_name": "objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4917", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical chicken figure in costume and place it next to the small green house plant", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handbell with wooden handle and brass and place it next to the adjustable metal wrench with handle", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5103", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the red envelope with triangular gray flap", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5181", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red strawberry with green leaves and place it next to the yellow white package with curry", "object_name": "objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5248", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic razor with wooden handle and place it next to the glossy green arrowhead shaped leaf", "object_name": "objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5418", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 112, "task_description": "Pick up the mosaic fragment and place it next to the white toilet paper roll", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5507", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 168, "task_description": "Pick up the gold headphones with red padding and place it next to the green smartphone with black touchscreen", "object_name": "objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5578", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the textured red pomegranate and place it next to the fresh green lettuce", "object_name": "objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white saturn v rocket with markings and place it next to the orange plaid pillow cushion", "object_name": "objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5708", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the amber cylindrical prescription pill bottle and place it next to the foodstuff", "object_name": "objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal hinge with pivot and place it next to the dark muscular statue standing dynamically", "object_name": "objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the serene stone statue with patterned robe and place it next to the silver bullet with red band tip", "object_name": "objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large rusty metal nail and place it next to the fresh round green lettuce", "object_name": "objanail_7ef93eea9c5349abb276931726681dc3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand axe and place it next to the slim pink cellphone with buttons", "object_name": "objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6083", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone and place it next to the detailed red and white race car", "object_name": "objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soapdispenser and place it next to the spray", "object_name": "soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it next to the blue bomb with white skull emblem", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it next to the shiny gold vase", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black hat yellow plume and place it next to the green lenses on night vision goggles", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown moth and place it next to the rectangular dark teal box", "object_name": "objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red wall-mounted rotary telephone and place it next to the light blue labeled cleaning bottle", "object_name": "objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6515", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 84, "task_description": "Pick up the red torii gate with black and place it next to the tall black top hat", "object_name": "objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6616", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic lid with handle and place it next to the small red potato with texture", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6733", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the white ceramic vase with ridges", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6787", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark angular architectural cornice and place it next to the plesiosaurus", "object_name": "objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6787", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vr headset with antennas and place it next to the shiny metallic key with notches", "object_name": "objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6819", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it next to the bulbous shiny gold vase", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the nightvisiongoggles and place it next to the glossy blue vase", "object_name": "objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray polished human hand statue and place it next to the large black hardcover book titled noughts", "object_name": "statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with pink and place it next to the white rabbit pink eyes", "object_name": "objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eye model and place it next to the medium red apple", "object_name": "objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow truck with gray container trailer and place it next to the neuron model", "object_name": "objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it next to the furniture", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow black wasp and place it next to the dark vintage folding camera", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7356", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the irregular brown rock with colorful minerals", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7434", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red scissors with metallic blades and place it next to the light brown soil with skeleton exposed", "object_name": "objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_744", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gas torch and place it next to the white and teal instant camera", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green manual can opener and place it next to the teal spiral wand", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored thick glasses and place it next to the glossy wooden tapered cup", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange delivery van with windows and place it next to the slim blue phone device", "object_name": "objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eggs and place it next to the tall copper cup with ridges", "object_name": "egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown ceramic dish with fish and place it next to the tall clear cup", "object_name": "objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver sword with yellow hilt and gem and place it next to the cutlery", "object_name": "objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek turquoise tape dispenser with base and place it next to the black paint can", "object_name": "objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the iced snowman gingerbread cookie and place it next to the small shiny gold dog statue", "object_name": "objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8177", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it next to the brown wooden gavel", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8235", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold opera glasses and place it next to the brown fedora hat with blue band", "object_name": "objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white connector with multiple yellow wires and place it next to the smooth translucent white bowl", "object_name": "objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8392", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cleaning sponge and place it next to the white tape dispenser", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy sword and place it next to the book", "object_name": "objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8546", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soft flat round bread with spots and place it next to the blue rectangular frying pan", "object_name": "objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lightweight camouflage glider and place it next to the dark plaque", "object_name": "objatoyplane_c210b610454f48488605759aa419c7af_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray video camera with handle and place it next to the stylized gray bird with orange beak", "object_name": "objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue can and place it next to the blue soap bottle with pump", "object_name": "objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8848", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white porcelain candlestick with cherubs and place it next to the light brown rectangular cardboard box", "object_name": "objacandlestick_576b8819466a4775815379687602a788_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage mobile phone and place it next to the smooth yellow apple with stem", "object_name": "objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black curved remote control with buttons and place it next to the orange plaid pillow", "object_name": "objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9033", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpener and place it next to the veg", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9094", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paintbrush with wooden handle and place it next to the blue hardcover book", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the brown cardboard box", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9259", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sculpture and place it next to the yellow handled knife", "object_name": "objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9327", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the golden brown loaf of bread", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown paper bag and place it next to the shallow round metallic cooking pan with handles", "object_name": "objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular component with wires and place it next to the tall white candle on dark holder", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden hand plane with blade and place it next to the cream hardcover unix programming book", "object_name": "objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9660", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the headphone and place it next to the sandglass", "object_name": "objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rubber mallet with handle and place it next to the red tomato", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9850", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black remote control and place it next to the toytower", "object_name": "objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9850", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical pink roofed tower and place it next to the sleek glossy black remote control", "object_name": "objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the bronze full-figured statue", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9899", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vase and place it next to the cream hardcover unix programming book", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/results.csv

@@ -0,0 +1,119 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0
+latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0
+latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.810271,0.0
+latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.951698,0.0
+latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.766723,0.0
+latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0
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+latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.598313,0.0
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+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.805703,0.0
+latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.737399,0.0
+latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.176363,0.0
+latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.749231,0.0
+latest,Objacookingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.445017,0.0
+latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.461147,0.0
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,235.516929,0.0
+latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.501585,0.0
+latest,Objadecorativebowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.096544,0.0
+latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.452304,0.0
+latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.401039,0.0
+latest,Objadecorativedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.22707,0.0
+latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.788523,0.0
+latest,Objadecorativefruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.860287,0.0
+latest,Objadecorativehorn,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,127.968073,0.0
+latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.845244,0.0
+latest,Objadecorativespike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.900974,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.394269,0.0
+latest,Objadisposablecoffeecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.254203,0.0
+latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,144.137325,0.0
+latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.450725,0.0
+latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.735328,0.0
+latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.688235,0.0
+latest,Objaeyemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.315955,0.0
+latest,Objaflatbread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.33332,0.0
+latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.725728,0.0
+latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.317535,0.0
+latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.625986,0.0
+latest,Objagreetingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,90.902205,54.560064
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.783087,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.412249,0.0
+latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.882461,0.0
+latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.408088,0.0
+latest,Objahandheldradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.639072,0.0
+latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.215134,0.0
+latest,Objaheadphones,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,46.744281,0.0
+latest,Objaheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.963183,0.0
+latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.197697,0.0
+latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.931556,0.0
+latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.337108,0.0
+latest,Objakylix,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,31.816387,0.0
+latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,104.049545,0.0
+latest,Objalid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.188478,0.0
+latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.438863,0.0
+latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.642754,0.0
+latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.653704,0.0
+latest,Objaminiaturemodel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,37.304812,0.0
+latest,Objamodelrocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.832185,0.0
+latest,Objamosaicfragment,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.058611,0.0
+latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.299524,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.002291,0.0
+latest,Objanail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.787437,0.0
+latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.812999,0.0
+latest,Objaoperaglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.288603,0.0
+latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.504123,0.0
+latest,Objapaperbag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.749242,0.0
+latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.020434,0.0
+latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.405483,0.0
+latest,Objapillbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.002932,0.0
+latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.373944,0.0
+latest,Objapomegranate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.243631,0.0
+latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.897148,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.088117,0.0
+latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.795076,0.0
+latest,Objarawhide,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.494243,0.0
+latest,Objaremotecontrol,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,64.131542,24.188897
+latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.13681,0.0
+latest,Objarotarytelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.327643,0.0
+latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.405,0.0
+latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.885426,0.0
+latest,Objasponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.095228,0.0
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.213494,0.0
+latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.774343,0.0
+latest,Objastatue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.517628,0.0
+latest,Objastoneartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.544631,0.0
+latest,Objastonedisc,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,30.40438,21.997949
+latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.541408,0.0
+latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.326549,0.0
+latest,Objatacticalpouch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.766731,0.0
+latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.671667,0.0
+latest,Objatoyplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.857226,0.0
+latest,Objatoysword,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,57.175751,12.564853
+latest,Objatoytower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.817107,0.0
+latest,Objatoytruck,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.237592,0.0
+latest,Objatoyvehicle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.009387,0.0
+latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.779666,0.0
+latest,Objavintagemobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.941818,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.120563,0.0
+latest,Objaweaponsight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.170573,0.0
+latest,Objawrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.825399,0.0
+latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.803449,0.0
+latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.006645,0.0
+latest,Vase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.689979,0.0
+latest,OVERALL,5,118,4.24,1.87,9.53,5,4.24,1.87,9.53,45.009242,35.458973

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/shard_01_results.csv

@@ -0,0 +1,119 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0
+latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0
+latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0
+latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0
+latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/submission_manifest.json

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+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/summary.json

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+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
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+    "success_count": 5.0,
+    "total_episodes": 118.0,
+    "avg_episode_length": 436.79661016949154,
+    "oracle_done_rate": 0.0423728813559322,
+    "success_rate_pct": 4.24,
+    "oracle_rate_pct": 4.24
+  },
+  "stats": {
+    "total_episodes": 118,
+    "success_count": 5,
+    "failure_count": 113,
+    "success_rate": 0.0423728813559322,
+    "avg_episode_length": 436.79661016949154,
+    "min_episode_length": 84,
+    "max_episode_length": 449,
+    "num_houses": 114,
+    "house_success_rates": {
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+    "avg_successful_episode_length": 161.0
+  },
+  "success_count": 5,
+  "total_count": 118,
+  "success_rate": 0.0423728813559322,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 5,
+    "total": 118,
+    "success_rate_pct": 4.24,
+    "ci_95_low_pct": 1.87,
+    "ci_95_high_pct": 9.53,
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+    "oracle_rate_pct": 4.24,
+    "oracle_ci_95_low_pct": 1.87,
+    "oracle_ci_95_high_pct": 9.53,
+    "jerk_joint_mean": 45.009242,
+    "jerk_joint_std": 35.458973
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

@@ -0,0 +1,465 @@
+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'),
+ '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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ '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': ['droid_shoulder_light_randomization',
+                                    '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': 'droid_shoulder_light_randomization',
+                   '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': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   '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': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  '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': [177,
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+                                        9599,
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+                         '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': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         '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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 177 (index 0/120)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 12:05:16 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]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_177_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=177, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:36 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:36 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the flask with purple liquid and place it next to the shallow white square bowl'	[task_sampler.py: 1136]
+05/26 12:05:36 INFO: [Worker 0] Worker 0 house 177 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:36 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:13:08 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]
+05/26 13:20:07 INFO: [Worker 0] Worker 0 house 177 episode 0 object objaerlenmeyerflask_9c04b4217c964d9cb469ca90f843bb6b_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 13:20:16 INFO: [Worker 0] Batching and saving trajectory data for house_177: 1 episodes	[pipeline.py: 233]
+05/26 13:20:16 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 13:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 13:20:25 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_177	[save_utils.py: 703]
+05/26 13:20:25 INFO: [Worker 0] Successfully saved trajectory data for house_177 in 8.98s (batch: 8.79s, save: 0.18s)	[pipeline.py: 280]
+05/26 13:20:27 WARNING: [Worker 0] No trajectory data to save for house_177	[pipeline.py: 229]
+05/26 13:20:27 INFO: [Worker 0] Worker 0 completed house 177: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 13:20:27 INFO: [Worker 0] Worker 0 starting house 319 (index 1/120)	[pipeline.py: 473]
+05/26 13:20:27 INFO: [Worker 0] Loaded 1 episodes for house 319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 13:20:27 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]
+05/26 13:20:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_319_ceiling.xml	[task_sampler.py: 797]
+05/26 13:20:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:20:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:20:47 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects	[json_eval_task_sampler.py: 686]
+05/26 13:20:47 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:20:47 INFO: [Worker 0] Sampled task 'Pick up the orange curved metal hook with holes and place it next to the ceramicbirdfigure'	[task_sampler.py: 1136]
+05/26 13:20:47 INFO: [Worker 0] Worker 0 house 319 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 13:20:47 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:26:56 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]
+05/26 14:52:45 INFO: [Worker 0] Worker 0 house 319 episode 0 object objahook_aa302253b52e4b2a90b27384342e56a9_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 14:52:54 INFO: [Worker 0] Batching and saving trajectory data for house_319: 1 episodes	[pipeline.py: 233]
+05/26 14:52:54 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:53:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:53:00 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_319	[save_utils.py: 703]
+05/26 14:53:00 INFO: [Worker 0] Successfully saved trajectory data for house_319 in 6.16s (batch: 5.82s, save: 0.34s)	[pipeline.py: 280]
+05/26 14:53:02 WARNING: [Worker 0] No trajectory data to save for house_319	[pipeline.py: 229]
+05/26 14:53:02 INFO: [Worker 0] Worker 0 completed house 319: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:53:02 INFO: [Worker 0] Worker 0 starting house 408 (index 2/120)	[pipeline.py: 473]
+05/26 14:53:02 INFO: [Worker 0] Loaded 1 episodes for house 408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 14:53:02 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]
+05/26 14:53:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene	[scene_maps.py: 66]
+05/26 14:53:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_408_ceiling.xml	[task_sampler.py: 797]
+05/26 14:53:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=408, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:53:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:53:23 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects	[json_eval_task_sampler.py: 686]
+05/26 14:53:23 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:53:23 INFO: [Worker 0] Sampled task 'Pick up the yellow origami paper crane and place it next to the pale beige fossil'	[task_sampler.py: 1136]
+05/26 14:53:23 INFO: [Worker 0] Worker 0 house 408 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:53:24 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 14:53:24 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene	[object_manager.py: 1238]
+05/26 14:53:24 WARNING: [Worker 0] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_9 in scene	[object_manager.py: 1238]
+05/26 14:53:24 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_9 in scene	[object_manager.py: 1238]
+05/26 16:43:25 INFO: [Worker 0] Worker 0 house 408 episode 0 object objaorigamicrane_64f4a0b158774b10a1817b689df959e9_1_0_8 completed with success=False	[pipeline.py: 1114]
+05/26 16:43:36 INFO: [Worker 0] Batching and saving trajectory data for house_408: 1 episodes	[pipeline.py: 233]
+05/26 16:43:36 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:43:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:43:43 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_408	[save_utils.py: 703]
+05/26 16:43:43 INFO: [Worker 0] Successfully saved trajectory data for house_408 in 7.39s (batch: 7.08s, save: 0.31s)	[pipeline.py: 280]
+05/26 16:43:45 WARNING: [Worker 0] No trajectory data to save for house_408	[pipeline.py: 229]
+05/26 16:43:45 INFO: [Worker 0] Worker 0 completed house 408: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:43:45 INFO: [Worker 0] Worker 0 starting house 419 (index 3/120)	[pipeline.py: 473]
+05/26 16:43:45 INFO: [Worker 0] Loaded 2 episodes for house 419 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 16:43:45 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]
+05/26 16:43:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_419_ceiling.xml	[task_sampler.py: 797]
+05/26 16:43:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=419, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:43:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:43:55 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/26 16:43:55 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:43:55 INFO: [Worker 0] Sampled task 'Pick up the tall dark cup with ridges base and place it next to the translucent ergonomic spray bottle'	[task_sampler.py: 1136]
+05/26 16:43:55 INFO: [Worker 0] Worker 0 house 419 episode 0/2 collected=0/2	[pipeline.py: 1050]
+05/26 16:43:55 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:49:56 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]
+05/26 17:24:50 INFO: [Worker 0] Worker 0 house 419 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 17:24:58 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]
+05/26 17:25:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_419_ceiling.xml	[task_sampler.py: 797]
+05/26 17:25:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=419, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 17:25:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 17:25:03 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects	[json_eval_task_sampler.py: 686]
+05/26 17:25:03 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 17:25:03 INFO: [Worker 0] Sampled task 'Pick up the digitalcamera and place it next to the translucent plastic ergonomic spray bottle'	[task_sampler.py: 1136]
+05/26 17:25:03 INFO: [Worker 0] Worker 0 house 419 episode 1/2 collected=1/2	[pipeline.py: 1050]
+05/26 17:25:03 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 17:31:27 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]
+05/26 18:08:12 INFO: [Worker 0] Worker 0 house 419 episode 1 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 18:08:21 INFO: [Worker 0] Batching and saving trajectory data for house_419: 2 episodes	[pipeline.py: 233]
+05/26 18:08:21 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:08:25 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:08:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:08:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:08:31 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_419	[save_utils.py: 703]
+05/26 18:08:31 INFO: [Worker 0] Successfully saved trajectory data for house_419 in 10.62s (batch: 10.07s, save: 0.56s)	[pipeline.py: 280]
+05/26 18:08:34 WARNING: [Worker 0] No trajectory data to save for house_419	[pipeline.py: 229]
+05/26 18:08:34 INFO: [Worker 0] Worker 0 completed house 419: 0/2 successful episodes	[pipeline.py: 1243]
+05/26 18:08:34 INFO: [Worker 0] Worker 0 starting house 484 (index 4/120)	[pipeline.py: 473]
+05/26 18:08:34 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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 18:08:34 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]
+05/26 18:08:39 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]
+05/26 18:08:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:08:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:08:39 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects	[json_eval_task_sampler.py: 686]
+05/26 18:08:39 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:08:39 INFO: [Worker 0] Sampled task 'Pick up the miniature trafficlight with red light and place it next to the glossy green cup'	[task_sampler.py: 1136]
+05/26 18:08:39 INFO: [Worker 0] Worker 0 house 484 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:08:39 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:14:51 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]
+05/26 18:44:00 INFO: [Worker 0] Worker 0 house 484 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 18:44:09 INFO: [Worker 0] Batching and saving trajectory data for house_484: 1 episodes	[pipeline.py: 233]
+05/26 18:44:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:44:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:44:17 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_484	[save_utils.py: 703]
+05/26 18:44:17 INFO: [Worker 0] Successfully saved trajectory data for house_484 in 7.36s (batch: 7.06s, save: 0.30s)	[pipeline.py: 280]
+05/26 18:44:18 WARNING: [Worker 0] No trajectory data to save for house_484	[pipeline.py: 229]
+05/26 18:44:18 INFO: [Worker 0] Worker 0 completed house 484: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:44:18 INFO: [Worker 0] Worker 0 starting house 547 (index 5/120)	[pipeline.py: 473]
+05/26 18:44:18 INFO: [Worker 0] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02	[json_eval_runner.py: 278]
+05/26 18:44:18 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]
+05/26 18:44:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_547_ceiling.xml	[task_sampler.py: 797]
+05/26 18:44:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:44:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:44:48 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects	[json_eval_task_sampler.py: 686]
+05/26 18:44:48 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:44:48 INFO: [Worker 0] Sampled task 'Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer'	[task_sampler.py: 1136]
+05/26 18:44:48 INFO: [Worker 0] Worker 0 house 547 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:44:48 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information
+    success = np.full(terminated.shape, fill_value=self.judge_success())
+                                                   ^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success
+    return self.get_info()[0]["success"]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info
+    r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb
+    aabb_min = np.min(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher
+    def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None,
+    
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/episode_results.jsonl

@@ -0,0 +1,119 @@
+{"house_id": "house_1097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the timer and place it next to the white toilet paper roll with embossing", "object_name": "objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1191", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown pixelated torch and place it next to the metallic futuristic device with handle", "object_name": "objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1276", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal shoe last with size markings and place it next to the green piggy bank with clouds", "object_name": "objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic chopping axe and place it next to the children's purple book with horse puppet", "object_name": "objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular gum package with branding and place it next to the gold vase", "object_name": "objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416/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 black hat plume and place it next to the gray bowl", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medallion with crown and shields and place it next to the dark gray bowl", "object_name": "objamedallion_74573e9beb164375942775cc38047ba7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1744", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue patterned bowl and place it next to the metal cup", "object_name": "objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1816", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white modern electric iron and place it next to the rustic golden brown bread", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small pale leaf-shaped textured arrowhead and place it next to the blue spaceship", "object_name": "objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the silver bullet with red band tip", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2030/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2098", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red vintage rotary dial payphone and place it next to the slim blue cell phone with pattern", "object_name": "objapayphone_a759edc5f9af4ee0a08391d2c5049c0b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2098/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2207", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown leather wallet with woven edges and place it next to the colorful red parrot with wings", "object_name": "objawallet_45e061790f364b1da9ff876382adca02_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green emergency exit sign and place it next to the slim rectangular phone", "object_name": "objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2442", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished round bronze knocker and place it next to the rectangular pillow with earthy stripes", "object_name": "objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2442/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow and place it next to the transparent tall slender wine glass", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2607", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful garden gnome with beard and place it next to the red faceted gemstone", "object_name": "objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2607/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2735", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black grenade with graffiti and place it next to the round medal with ribbon", "object_name": "objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2842", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow geiger counter with antennas and place it next to the flat brown h-shaped rectangular piece", "object_name": "objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze statue of nude female and place it next to the bulbous shiny gold metallic vase", "object_name": "statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3041", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 103, "task_description": "Pick up the dark portable gas torch with label and place it next to the green plant with leaves", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange blowtorch and place it next to the purple crystal formation on base", "object_name": "objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3233", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red candy cane shaped hook and place it next to the white stone", "object_name": "objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3282", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bowl and place it next to the slim blue cell phone with pattern", "object_name": "bowl_2f9f64388a995199e35022d1cbe33117_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3364", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark handle magnifying glass and place it next to the yellow handheld device with antenna", "object_name": "objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the round wooden bowl", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pastel scepter and place it next to the rustic stone mallet", "object_name": "objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3585", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow teardrop weight with hanging loop and place it next to the translucent ergonomic spray bottle", "object_name": "objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3688", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the soap dispenser", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long green dragon figure with horns and place it next to the medium shiny round bowl", "object_name": "objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the orange fire truck with ladder", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage cast iron clothes iron with handle and place it next to the green apple with stem", "object_name": "objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3925", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty vintage kerosene lantern with handle and place it next to the teal van with flowers", "object_name": "objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4018", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long rusty metal rail with notches and place it next to the laptop computer", "object_name": "objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall metal lock and place it next to the simple light brown ceramic bowl", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wand with red crystal and place it next to the glass", "object_name": "objawand_2ae875cdb30240feb83d769b134115b2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4263", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage portable radio and place it next to the bust of woman statue", "object_name": "objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the blue vase", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ciabatta olive bread package and place it next to the glossy dark hand", "object_name": "objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow cup and place it next to the white triangular wedge with texture", "object_name": "objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown fabric spool and place it next to the hardcover book with wood-textured spine", "object_name": "objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4649", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soft taco and place it next to the bulbous shiny gold metallic vase", "object_name": "objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4690", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red swiss army knife with tools and place it next to the metal valve", "object_name": "objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige cylindrical spray can with blue nozzle and place it next to the medium ripe red tomato with stem", "object_name": "objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the spherical puzzle globe map", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse and place it next to the transparent soap bottle with dark pump", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4858", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black vr headset with star and place it next to the tall cream candle in dark holder", "object_name": "objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4924", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold drill bit and place it next to the blue globe with penguin on top", "object_name": "objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5000", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold yellow text sculpture saying party and place it next to the square olive green ceramic plate", "object_name": "objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage portable radio and place it next to the square white ceramic plate with ridges", "object_name": "objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the camouflage suppressor and place it next to the rectangular yellow plaid pillow", "object_name": "objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5278", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pcb with components and place it next to the lightweight brown cardboard box with flaps", "object_name": "objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5437", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh pineapple with spiky green leaves and place it next to the bulbous shiny gold vase", "object_name": "objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_547", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal chisel and place it next to the teal dragon", "object_name": "objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5592", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white bolt with green threaded shaft and place it next to the bronze female nude statue", "object_name": "objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5644", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved bone and place it next to the cartoon orange moth", "object_name": "objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with accents and place it next to the ornate purple crown with gold", "object_name": "objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the burgundy metallic rectangular toaster", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5908", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow pen and place it next to the brown bowl", "object_name": "objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_595", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the intricately carved stone pyramid", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden hand and place it next to the brown rusty cylindrical vintage oilcan", "object_name": "objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6093", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the sleek turquoise aircraft with engines", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden brown chocolate chip muffin and place it next to the cutting implement", "object_name": "objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6241", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old rusted circular metal ring and place it next to the animal tissue", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic tapered cup and place it next to the small oval brown potato with texture", "object_name": "cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_635", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cartoonish observatory with satellite dish and place it next to the white candle with flame", "object_name": "objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal sharpener and place it next to the shiny gold vase", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the off-white stone carved relief and place it next to the bulbous shiny gold metallic vase", "object_name": "objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna double helix model and place it next to the blue spray bottle", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6624", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kitchen knife with yellow handle and place it next to the blue toaster appliance", "object_name": "knife_79fd11da07e86802ec5235db6beee9a8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6739", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round-bottom flask and place it next to the soapdispenser", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6826", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carved wooden king holding orb and place it next to the white quilted pillow", "object_name": "objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown and white chihuahua sculpture and place it next to the blue pixelated police figure smoking", "object_name": "objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the walkie-talkie and place it next to the white rectangular electrical component", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dentures and place it next to the orange wavy terracotta tile", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular clay tablet with inscriptions and place it next to the hikingshoe", "object_name": "objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7134", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round shallow metal dish with texture and place it next to the glossy red vase with narrow neck", "object_name": "objadish_5d72b52d57604e109b4d23173707a186_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red roller with yellow core and place it next to the small beige clay smoking pipe", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_717", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 189, "task_description": "Pick up the hexagonal metal bolt and place it next to the carafe", "object_name": "objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7220", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise gray handheld garden nozzle and place it next to the smooth translucent white bowl", "object_name": "objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red onion with stem and roots and place it next to the compact blue toaster", "object_name": "objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7362", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black sleek wall-mounted hook and place it next to the stone slab city map", "object_name": "objacoathook_39c055fa857242fe839af81c1de61997_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7437", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic rod with brackets and place it next to the detailed pale animal skull", "object_name": "objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round terracotta clay serving dish and place it next to the shiny smooth red apple", "object_name": "objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7501", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall worn brown vintage book and place it next to the soap bottle", "object_name": "objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7619", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black lightning trophy with silver plaque and place it next to the cratered gray moon", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7730", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rod with holes and place it next to the round dark crust bread", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7822", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brass candlestick and place it next to the pink rectangular shoe box with logos", "object_name": "objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7874", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the woodworking plane and place it next to the baked goods", "object_name": "objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool with red gear head and place it next to the dark matte cup with tapered base", "object_name": "objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8095", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage green stick grenade and place it next to the brown bowl", "object_name": "objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8178", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal manual juicer and place it next to the spray", "object_name": "objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_818", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver scissors and place it next to the slim gold metallic smartphone with buttons", "object_name": "objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wrench and place it next to the white disposable paper coffee cup", "object_name": "objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8321", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved horn and place it next to the birdskull", "object_name": "objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8394", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it next to the medium round brown bread loaf", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gavel with brown handle and brass and place it next to the bronze statue of nude female", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8560", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chocolatebunny and place it next to the colorful graffiti grenade with handle", "object_name": "objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the yellow apple with stem", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the soapdispenser", "object_name": "knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crockery and place it next to the ceramic bowl", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lantern with glass chimney and place it next to the black gaming mouse", "object_name": "objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown barrel mug and place it next to the white curved wooden molding", "object_name": "objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ice-cream cone and place it next to the transparent tapered clear plastic cup", "object_name": "objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9044", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red apple with smooth surface and place it next to the pink heart", "object_name": "apple_1184bcea45a878476443040fbba5b76d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple serum bottle and place it next to the sleek modern juicer metal", "object_name": "objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9171", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular light switch plate and place it next to the white rectangular switch plate", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver vintage train car model and place it next to the figure", "object_name": "objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9337", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 74, "task_description": "Pick up the vintage metal pencil sharpener and place it next to the green hexagonal patterned shell", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9463", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flower topped decorative scepter and place it next to the gold pump bottle", "object_name": "objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric copper candleholder with candle and place it next to the teal and yellow binoculars with strap", "object_name": "objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc and place it next to the round brown dome-shaped loaf bread", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold script and place it next to the dark curved metal tool with handle", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the traffic signal", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9913", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long glossy green cucumber with ridges and place it next to the light ceramic bowl", "object_name": "objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9955", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the blue vintage car", "object_name": "objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9955", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate golden tiara with blue gemstones and place it next to the alarmclock", "object_name": "objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote with colorful buttons and place it next to the purple square pillow", "object_name": "objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv

@@ -0,0 +1,116 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0
+latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,125.45624,0.0
+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0
+latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.721774,19.453524
+latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.56108,0.0
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.179867,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.09577,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.178536,0.0
+latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0
+latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.027609,0.0
+latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0
+latest,Objabolt,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,41.913955,0.750104
+latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0
+latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.893222,0.0
+latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0
+latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.162542,0.0
+latest,Objacandywrapper,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,41.371993,31.966502
+latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0
+latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.223849,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.207046,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.337425,0.0
+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.353734,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344766,0.0
+latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.665245,0.0
+latest,Objacoathook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.163723,0.0
+latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.67815,0.0
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.439309,0.0
+latest,Objacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.261313,0.0
+latest,Objacurtainrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.053922,0.0
+latest,Objadecorativedragonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.099013,0.0
+latest,Objadecorativehook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.000888,0.0
+latest,Objadecorativehorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.303404,0.0
+latest,Objadecorativeitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.601137,0.0
+latest,Objadecorativemodel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.458304,6.245287
+latest,Objadecorativepaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.592278,0.0
+latest,Objadecorativescepter,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.511091,2.031
+latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.221742,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.941106,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.183467,0.0
+latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.336363,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.738996,0.0
+latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.21573,0.0
+latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.882362,0.0
+latest,Objaemergencyexitsign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.823779,0.0
+latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.225712,0.0
+latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.580781,0.0
+latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.276169,0.0
+latest,Objafountainpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.726871,0.0
+latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.449389,0.0
+latest,Objagardengnome,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.367437,0.0
+latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.175604,0.0
+latest,Objagastorch,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.241386,0.0
+latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,113.781367,0.0
+latest,Objageigercounter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.994532,0.0
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.887124,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.962561,0.0
+latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.502846,0.0
+latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.493577,0.0
+latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.090555,0.0
+latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.25826,0.0
+latest,Objalantern,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.464402,8.731136
+latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.500215,0.0
+latest,Objamagnifyingglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.041703,0.0
+latest,Objamanualjuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.122338,0.0
+latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.977532,0.0
+latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.437694,0.0
+latest,Objametalrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.79383,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.52547,0.0
+latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.513571,0.0
+latest,Objamuffin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.089366,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.325569,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.752148,0.0
+latest,Objaonion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.162828,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.699598,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.114798,0.0
+latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.52525,0.0
+latest,Objapayphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.045261,0.0
+latest,Objapencilsharpener,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,119.964344,80.706333
+latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.446187,0.0
+latest,Objaportableradio,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.076577,7.348875
+latest,Objapouringbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.470347,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.160731,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.045045,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.14128,0.0
+latest,Objareplicagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.221753,0.0
+latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.750705,0.0
+latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.642795,0.0
+latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.589308,0.0
+latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.409386,0.0
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.929735,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.39051,0.0
+latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.089731,0.0
+latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.468079,0.0
+latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.017737,0.0
+latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0
+latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.376782,0.0
+latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.636043,0.0
+latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.346061,0.0
+latest,Objatoybuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.067745,0.0
+latest,Objatraincarmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.375407,0.0
+latest,Objatwowayradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.162012,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.297512,0.0
+latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.369245,0.0
+latest,Objawallrelief,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.211466,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/summary.json

@@ -0,0 +1,203 @@
+{
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/episode_results.jsonl

@@ -0,0 +1,119 @@
+{"house_id": "house_1097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the timer and place it next to the white toilet paper roll with embossing", "object_name": "objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1191", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown pixelated torch and place it next to the metallic futuristic device with handle", "object_name": "objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_1350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic chopping axe and place it next to the children's purple book with horse puppet", "object_name": "objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular gum package with branding and place it next to the gold vase", "object_name": "objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_2338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green emergency exit sign and place it next to the slim rectangular phone", "object_name": "objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_2735", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black grenade with graffiti and place it next to the round medal with ribbon", "object_name": "objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2842", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow geiger counter with antennas and place it next to the flat brown h-shaped rectangular piece", "object_name": "objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze statue of nude female and place it next to the bulbous shiny gold metallic vase", "object_name": "statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3041", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 103, "task_description": "Pick up the dark portable gas torch with label and place it next to the green plant with leaves", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange blowtorch and place it next to the purple crystal formation on base", "object_name": "objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3233", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red candy cane shaped hook and place it next to the white stone", "object_name": "objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3282", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bowl and place it next to the slim blue cell phone with pattern", "object_name": "bowl_2f9f64388a995199e35022d1cbe33117_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3364", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark handle magnifying glass and place it next to the yellow handheld device with antenna", "object_name": "objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the round wooden bowl", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pastel scepter and place it next to the rustic stone mallet", "object_name": "objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3585", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow teardrop weight with hanging loop and place it next to the translucent ergonomic spray bottle", "object_name": "objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3688", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the soap dispenser", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3755", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long green dragon figure with horns and place it next to the medium shiny round bowl", "object_name": "objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the orange fire truck with ladder", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage cast iron clothes iron with handle and place it next to the green apple with stem", "object_name": "objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3925", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty vintage kerosene lantern with handle and place it next to the teal van with flowers", "object_name": "objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4018", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long rusty metal rail with notches and place it next to the laptop computer", "object_name": "objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall metal lock and place it next to the simple light brown ceramic bowl", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wand with red crystal and place it next to the glass", "object_name": "objawand_2ae875cdb30240feb83d769b134115b2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4263", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage portable radio and place it next to the bust of woman statue", "object_name": "objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the blue vase", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ciabatta olive bread package and place it next to the glossy dark hand", "object_name": "objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow cup and place it next to the white triangular wedge with texture", "object_name": "objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown fabric spool and place it next to the hardcover book with wood-textured spine", "object_name": "objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4649", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soft taco and place it next to the bulbous shiny gold metallic vase", "object_name": "objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4690", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red swiss army knife with tools and place it next to the metal valve", "object_name": "objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige cylindrical spray can with blue nozzle and place it next to the medium ripe red tomato with stem", "object_name": "objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the spherical puzzle globe map", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4781", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse and place it next to the transparent soap bottle with dark pump", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4858", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black vr headset with star and place it next to the tall cream candle in dark holder", "object_name": "objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4924", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold drill bit and place it next to the blue globe with penguin on top", "object_name": "objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5000", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold yellow text sculpture saying party and place it next to the square olive green ceramic plate", "object_name": "objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage portable radio and place it next to the square white ceramic plate with ridges", "object_name": "objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the camouflage suppressor and place it next to the rectangular yellow plaid pillow", "object_name": "objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5278", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pcb with components and place it next to the lightweight brown cardboard box with flaps", "object_name": "objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5437", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fresh pineapple with spiky green leaves and place it next to the bulbous shiny gold vase", "object_name": "objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_547", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal chisel and place it next to the teal dragon", "object_name": "objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5592", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white bolt with green threaded shaft and place it next to the bronze female nude statue", "object_name": "objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5644", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved bone and place it next to the cartoon orange moth", "object_name": "objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with accents and place it next to the ornate purple crown with gold", "object_name": "objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the burgundy metallic rectangular toaster", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5908", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow pen and place it next to the brown bowl", "object_name": "objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_595", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the intricately carved stone pyramid", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden hand and place it next to the brown rusty cylindrical vintage oilcan", "object_name": "objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6093", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the sleek turquoise aircraft with engines", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden brown chocolate chip muffin and place it next to the cutting implement", "object_name": "objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6241", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the old rusted circular metal ring and place it next to the animal tissue", "object_name": "objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic tapered cup and place it next to the small oval brown potato with texture", "object_name": "cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_635", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cartoonish observatory with satellite dish and place it next to the white candle with flame", "object_name": "objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal sharpener and place it next to the shiny gold vase", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the off-white stone carved relief and place it next to the bulbous shiny gold metallic vase", "object_name": "objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna double helix model and place it next to the blue spray bottle", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6624", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kitchen knife with yellow handle and place it next to the blue toaster appliance", "object_name": "knife_79fd11da07e86802ec5235db6beee9a8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6739", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round-bottom flask and place it next to the soapdispenser", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6826", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carved wooden king holding orb and place it next to the white quilted pillow", "object_name": "objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown and white chihuahua sculpture and place it next to the blue pixelated police figure smoking", "object_name": "objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the walkie-talkie and place it next to the white rectangular electrical component", "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dentures and place it next to the orange wavy terracotta tile", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular clay tablet with inscriptions and place it next to the hikingshoe", "object_name": "objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7134", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round shallow metal dish with texture and place it next to the glossy red vase with narrow neck", "object_name": "objadish_5d72b52d57604e109b4d23173707a186_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red roller with yellow core and place it next to the small beige clay smoking pipe", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_717", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 189, "task_description": "Pick up the hexagonal metal bolt and place it next to the carafe", "object_name": "objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7220", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the turquoise gray handheld garden nozzle and place it next to the smooth translucent white bowl", "object_name": "objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red onion with stem and roots and place it next to the compact blue toaster", "object_name": "objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7362", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black sleek wall-mounted hook and place it next to the stone slab city map", "object_name": "objacoathook_39c055fa857242fe839af81c1de61997_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7437", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic rod with brackets and place it next to the detailed pale animal skull", "object_name": "objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round terracotta clay serving dish and place it next to the shiny smooth red apple", "object_name": "objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7501", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall worn brown vintage book and place it next to the soap bottle", "object_name": "objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7619", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black lightning trophy with silver plaque and place it next to the cratered gray moon", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7730", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rod with holes and place it next to the round dark crust bread", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7822", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brass candlestick and place it next to the pink rectangular shoe box with logos", "object_name": "objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7874", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the woodworking plane and place it next to the baked goods", "object_name": "objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool with red gear head and place it next to the dark matte cup with tapered base", "object_name": "objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8095", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage green stick grenade and place it next to the brown bowl", "object_name": "objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8178", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal manual juicer and place it next to the spray", "object_name": "objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_818", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver scissors and place it next to the slim gold metallic smartphone with buttons", "object_name": "objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wrench and place it next to the white disposable paper coffee cup", "object_name": "objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8321", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved horn and place it next to the birdskull", "object_name": "objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8394", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it next to the medium round brown bread loaf", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gavel with brown handle and brass and place it next to the bronze statue of nude female", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8560", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chocolatebunny and place it next to the colorful graffiti grenade with handle", "object_name": "objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the yellow apple with stem", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the soapdispenser", "object_name": "knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crockery and place it next to the ceramic bowl", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lantern with glass chimney and place it next to the black gaming mouse", "object_name": "objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown barrel mug and place it next to the white curved wooden molding", "object_name": "objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ice-cream cone and place it next to the transparent tapered clear plastic cup", "object_name": "objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9044", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red apple with smooth surface and place it next to the pink heart", "object_name": "apple_1184bcea45a878476443040fbba5b76d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple serum bottle and place it next to the sleek modern juicer metal", "object_name": "objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9171", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular light switch plate and place it next to the white rectangular switch plate", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver vintage train car model and place it next to the figure", "object_name": "objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9337", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 74, "task_description": "Pick up the vintage metal pencil sharpener and place it next to the green hexagonal patterned shell", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9463", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flower topped decorative scepter and place it next to the gold pump bottle", "object_name": "objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric copper candleholder with candle and place it next to the teal and yellow binoculars with strap", "object_name": "objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc and place it next to the round brown dome-shaped loaf bread", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold script and place it next to the dark curved metal tool with handle", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the traffic signal", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9913", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long glossy green cucumber with ridges and place it next to the light ceramic bowl", "object_name": "objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9955", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the blue vintage car", "object_name": "objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9955", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate golden tiara with blue gemstones and place it next to the alarmclock", "object_name": "objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote with colorful buttons and place it next to the purple square pillow", "object_name": "objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv"
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/results.csv

@@ -0,0 +1,116 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0
+latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,125.45624,0.0
+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0
+latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.721774,19.453524
+latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.56108,0.0
+latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.179867,0.0
+latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.09577,0.0
+latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.178536,0.0
+latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0
+latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.027609,0.0
+latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0
+latest,Objabolt,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,41.913955,0.750104
+latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0
+latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0
+latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.893222,0.0
+latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0
+latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.162542,0.0
+latest,Objacandywrapper,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,41.371993,31.966502
+latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0
+latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.223849,0.0
+latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.207046,0.0
+latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.337425,0.0
+latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.353734,0.0
+latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344766,0.0
+latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.665245,0.0
+latest,Objacoathook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.163723,0.0
+latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.67815,0.0
+latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.439309,0.0
+latest,Objacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.261313,0.0
+latest,Objacurtainrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.053922,0.0
+latest,Objadecorativedragonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.099013,0.0
+latest,Objadecorativehook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.000888,0.0
+latest,Objadecorativehorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.303404,0.0
+latest,Objadecorativeitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.601137,0.0
+latest,Objadecorativemodel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.458304,6.245287
+latest,Objadecorativepaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.592278,0.0
+latest,Objadecorativescepter,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.511091,2.031
+latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.221742,0.0
+latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.941106,0.0
+latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.183467,0.0
+latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.336363,0.0
+latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.738996,0.0
+latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.21573,0.0
+latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.882362,0.0
+latest,Objaemergencyexitsign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.823779,0.0
+latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.225712,0.0
+latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.580781,0.0
+latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.276169,0.0
+latest,Objafountainpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.726871,0.0
+latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.449389,0.0
+latest,Objagardengnome,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.367437,0.0
+latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.175604,0.0
+latest,Objagastorch,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.241386,0.0
+latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,113.781367,0.0
+latest,Objageigercounter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.994532,0.0
+latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.887124,0.0
+latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.962561,0.0
+latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.502846,0.0
+latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.493577,0.0
+latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.090555,0.0
+latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.25826,0.0
+latest,Objalantern,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.464402,8.731136
+latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.500215,0.0
+latest,Objamagnifyingglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.041703,0.0
+latest,Objamanualjuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.122338,0.0
+latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.977532,0.0
+latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.437694,0.0
+latest,Objametalrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.79383,0.0
+latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.52547,0.0
+latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.513571,0.0
+latest,Objamuffin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.089366,0.0
+latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.325569,0.0
+latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.752148,0.0
+latest,Objaonion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.162828,0.0
+latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.699598,0.0
+latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.114798,0.0
+latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.52525,0.0
+latest,Objapayphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.045261,0.0
+latest,Objapencilsharpener,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,119.964344,80.706333
+latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.446187,0.0
+latest,Objaportableradio,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.076577,7.348875
+latest,Objapouringbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.470347,0.0
+latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.160731,0.0
+latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.045045,0.0
+latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.14128,0.0
+latest,Objareplicagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.221753,0.0
+latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.750705,0.0
+latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.642795,0.0
+latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.589308,0.0
+latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.409386,0.0
+latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.929735,0.0
+latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.39051,0.0
+latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.089731,0.0
+latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.468079,0.0
+latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.017737,0.0
+latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0
+latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.376782,0.0
+latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.636043,0.0
+latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.346061,0.0
+latest,Objatoybuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.067745,0.0
+latest,Objatraincarmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.375407,0.0
+latest,Objatwowayradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.162012,0.0
+latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.297512,0.0
+latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.369245,0.0
+latest,Objawallrelief,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.211466,0.0
+latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.278962,0.0
+latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.622169,0.0
+latest,Objawoodensculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.304062,0.0
+latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.023195,0.0
+latest,OVERALL,3,119,2.52,0.92,7.13,3,2.52,0.92,7.13,44.256906,29.013002

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament 

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/shard_02_results.csv

@@ -0,0 +1,116 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815
+# 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,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0
+latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0
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+latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0
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pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/submission_manifest.json

@@ -0,0 +1,161 @@
+{
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02",
+  "results_csv": "results.csv",
+  "summary_json": "summary.json",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "eval_meta_json": "eval_meta.json",
+  "eval_log": "eval.log",
+  "metrics_mean": {
+    "success_rate": 0.025210084033613446,
+    "success_count": 3.0,
+    "total_episodes": 119.0,
+    "avg_episode_length": 440.7563025210084,
+    "oracle_done_rate": 0.025210084033613446,
+    "success_rate_pct": 2.52,
+    "oracle_rate_pct": 2.52
+  },
+  "stats": {
+    "total_episodes": 119,
+    "success_count": 3,
+    "failure_count": 116,
+    "success_rate": 0.025210084033613446,
+    "avg_episode_length": 440.7563025210084,
+    "min_episode_length": 74,
+    "max_episode_length": 449,
+    "num_houses": 115,
+    "house_success_rates": {
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+    "avg_successful_episode_length": 122.0
+  },
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv",
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "end_on_success": true
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/summary.json

@@ -0,0 +1,203 @@
+{
+  "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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
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+    "success_count": 3.0,
+    "total_episodes": 119.0,
+    "avg_episode_length": 440.7563025210084,
+    "oracle_done_rate": 0.025210084033613446,
+    "success_rate_pct": 2.52,
+    "oracle_rate_pct": 2.52
+  },
+  "stats": {
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+    "success_count": 3,
+    "failure_count": 116,
+    "success_rate": 0.025210084033613446,
+    "avg_episode_length": 440.7563025210084,
+    "min_episode_length": 74,
+    "max_episode_length": 449,
+    "num_houses": 115,
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+    "avg_successful_episode_length": 122.0
+  },
+  "success_count": 3,
+  "total_count": 119,
+  "success_rate": 0.025210084033613446,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 3,
+    "total": 119,
+    "success_rate_pct": 2.52,
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+    "oracle_rate_pct": 2.52,
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+    "oracle_ci_95_high_pct": 7.13,
+    "jerk_joint_mean": 44.256906,
+    "jerk_joint_std": 29.013002
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log

@@ -0,0 +1,482 @@
+05/26 12:05:16 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 677]
+05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes	[pipeline.py: 1279]
+05/26 12:05:16 INFO: Evaluation configuration:	[pipeline.py: 1286]
+05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06'),
+ '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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'),
+ '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': ['droid_shoulder_light_randomization',
+                                    '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': 'droid_shoulder_light_randomization',
+                   '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': <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'>,
+                   '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': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  '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': [42,
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+                                        9541,
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+                         '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': <class 'molmo_spaces.tasks.task_sampler.BaseMujocoTaskSampler'>,
+                         '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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler	[pipeline.py: 439]
+05/26 12:05:16 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]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler	[pipeline.py: 445]
+05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 42 (index 0/121)	[pipeline.py: 473]
+05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 42 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 12:05:16 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]
+05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/26 12:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_42_ceiling.xml	[task_sampler.py: 797]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=42, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects	[json_eval_task_sampler.py: 686]
+05/26 12:05:37 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:05:37 INFO: [Worker 0] Sampled task 'Pick up the vintage compass and place it next to the black hatchet'	[task_sampler.py: 1136]
+05/26 12:05:37 INFO: [Worker 0] Worker 0 house 42 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:05:37 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:48:30 INFO: [Worker 0] Worker 0 house 42 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 12:48:42 INFO: [Worker 0] Batching and saving trajectory data for house_42: 1 episodes	[pipeline.py: 233]
+05/26 12:48:42 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 12:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 12:48:49 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_42	[save_utils.py: 703]
+05/26 12:48:49 INFO: [Worker 0] Successfully saved trajectory data for house_42 in 7.38s (batch: 7.15s, save: 0.23s)	[pipeline.py: 280]
+05/26 12:48:51 WARNING: [Worker 0] No trajectory data to save for house_42	[pipeline.py: 229]
+05/26 12:48:51 INFO: [Worker 0] Worker 0 completed house 42: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 12:48:51 INFO: [Worker 0] Worker 0 starting house 125 (index 1/121)	[pipeline.py: 473]
+05/26 12:48:51 INFO: [Worker 0] Loaded 1 episodes for house 125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 12:48:51 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]
+05/26 12:49:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_125_ceiling.xml	[task_sampler.py: 797]
+05/26 12:49:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 12:49:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 12:49:17 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects	[json_eval_task_sampler.py: 686]
+05/26 12:49:17 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 12:49:17 INFO: [Worker 0] Sampled task 'Pick up the smoke grenade and place it next to the smooth medium brown egg'	[task_sampler.py: 1136]
+05/26 12:49:17 INFO: [Worker 0] Worker 0 house 125 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 12:49:17 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 12:49:17 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene	[object_manager.py: 1238]
+05/26 12:49:17 WARNING: [Worker 0] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_6 in scene	[object_manager.py: 1238]
+05/26 12:49:20 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]
+05/26 13:55:41 INFO: [Worker 0] Worker 0 house 125 episode 0 object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 13:55:52 INFO: [Worker 0] Batching and saving trajectory data for house_125: 1 episodes	[pipeline.py: 233]
+05/26 13:55:52 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 13:55:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 13:55:59 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_125	[save_utils.py: 703]
+05/26 13:55:59 INFO: [Worker 0] Successfully saved trajectory data for house_125 in 7.01s (batch: 6.59s, save: 0.42s)	[pipeline.py: 280]
+05/26 13:56:02 WARNING: [Worker 0] No trajectory data to save for house_125	[pipeline.py: 229]
+05/26 13:56:02 INFO: [Worker 0] Worker 0 completed house 125: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 13:56:02 INFO: [Worker 0] Worker 0 starting house 221 (index 2/121)	[pipeline.py: 473]
+05/26 13:56:02 INFO: [Worker 0] Loaded 1 episodes for house 221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 13:56:02 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]
+05/26 13:56:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_221_ceiling.xml	[task_sampler.py: 797]
+05/26 13:56:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 13:56:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 13:56:10 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects	[json_eval_task_sampler.py: 686]
+05/26 13:56:10 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 13:56:10 INFO: [Worker 0] Sampled task 'Pick up the handwriting and place it next to the green lettuce'	[task_sampler.py: 1136]
+05/26 13:56:10 INFO: [Worker 0] Worker 0 house 221 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 13:56:11 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 13:56:14 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]
+05/26 14:46:57 INFO: [Worker 0] Worker 0 house 221 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 14:47:09 INFO: [Worker 0] Batching and saving trajectory data for house_221: 1 episodes	[pipeline.py: 233]
+05/26 14:47:09 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 14:47:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 14:47:15 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_221	[save_utils.py: 703]
+05/26 14:47:15 INFO: [Worker 0] Successfully saved trajectory data for house_221 in 5.98s (batch: 5.68s, save: 0.30s)	[pipeline.py: 280]
+05/26 14:47:17 WARNING: [Worker 0] No trajectory data to save for house_221	[pipeline.py: 229]
+05/26 14:47:17 INFO: [Worker 0] Worker 0 completed house 221: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 14:47:17 INFO: [Worker 0] Worker 0 starting house 348 (index 3/121)	[pipeline.py: 473]
+05/26 14:47:17 INFO: [Worker 0] Loaded 1 episodes for house 348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 14:47:17 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]
+05/26 14:47:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_348_ceiling.xml	[task_sampler.py: 797]
+05/26 14:47:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 14:47:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 14:47:21 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects	[json_eval_task_sampler.py: 686]
+05/26 14:47:21 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 14:47:21 INFO: [Worker 0] Sampled task 'Pick up the white and blue scanner and place it next to the modern desk lamp with copper accents'	[task_sampler.py: 1136]
+05/26 14:47:21 INFO: [Worker 0] Worker 0 house 348 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 14:47:21 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 14:47:22 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_3 in scene	[object_manager.py: 1238]
+05/26 14:47:22 WARNING: [Worker 0] Could not find object objanecklace_6c8970b21bf540cdb3616d885c4c7821_1_0_3 in scene	[object_manager.py: 1238]
+05/26 14:52:27 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]
+05/26 15:27:26 INFO: [Worker 0] Worker 0 house 348 episode 0 object objabarcodescanner_98d96a9ba15a4789b96af0bbce65c270_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 15:27:33 INFO: [Worker 0] Batching and saving trajectory data for house_348: 1 episodes	[pipeline.py: 233]
+05/26 15:27:33 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 15:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 15:27:40 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_348	[save_utils.py: 703]
+05/26 15:27:40 INFO: [Worker 0] Successfully saved trajectory data for house_348 in 7.10s (batch: 6.78s, save: 0.33s)	[pipeline.py: 280]
+05/26 15:27:41 WARNING: [Worker 0] No trajectory data to save for house_348	[pipeline.py: 229]
+05/26 15:27:41 INFO: [Worker 0] Worker 0 completed house 348: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 15:27:41 INFO: [Worker 0] Worker 0 starting house 430 (index 4/121)	[pipeline.py: 473]
+05/26 15:27:41 INFO: [Worker 0] Loaded 1 episodes for house 430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 15:27:41 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]
+05/26 15:27:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_430_ceiling.xml	[task_sampler.py: 797]
+05/26 15:27:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=430, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 15:27:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 15:27:50 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects	[json_eval_task_sampler.py: 686]
+05/26 15:27:50 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 15:27:50 INFO: [Worker 0] Sampled task 'Pick up the tall column with golden statue and place it next to the small oval red potato with texture'	[task_sampler.py: 1136]
+05/26 15:27:50 INFO: [Worker 0] Worker 0 house 430 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 15:27:51 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:15:42 INFO: [Worker 0] Worker 0 house 430 episode 0 object objaminiaturemonument_516e2c582864410b9f7862614ef339e1_1_0_2 completed with success=False	[pipeline.py: 1114]
+05/26 16:15:50 INFO: [Worker 0] Batching and saving trajectory data for house_430: 1 episodes	[pipeline.py: 233]
+05/26 16:15:50 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 16:15:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 16:15:58 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_430	[save_utils.py: 703]
+05/26 16:15:58 INFO: [Worker 0] Successfully saved trajectory data for house_430 in 7.25s (batch: 6.93s, save: 0.32s)	[pipeline.py: 280]
+05/26 16:16:00 WARNING: [Worker 0] No trajectory data to save for house_430	[pipeline.py: 229]
+05/26 16:16:00 INFO: [Worker 0] Worker 0 completed house 430: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 16:16:00 INFO: [Worker 0] Worker 0 starting house 507 (index 5/121)	[pipeline.py: 473]
+05/26 16:16:00 INFO: [Worker 0] Loaded 1 episodes for house 507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 16:16:00 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]
+05/26 16:16:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_507_ceiling.xml	[task_sampler.py: 797]
+05/26 16:16:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=507, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 16:16:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 16:16:33 INFO: [Worker 0] randomize_scene: Setting poses for 118 objects	[json_eval_task_sampler.py: 686]
+05/26 16:16:33 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 16:16:33 INFO: [Worker 0] Sampled task 'Pick up the turquoise decorative hourglass with beads and place it next to the gray classic nintendo entertainment console'	[task_sampler.py: 1136]
+05/26 16:16:33 INFO: [Worker 0] Worker 0 house 507 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 16:16:33 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 16:16:34 WARNING: [Worker 0] Could not find object objaminiaturemicrophone_3df49e881a894f57a431918d7c6d7980_1_0_2 in scene	[object_manager.py: 1238]
+05/26 18:14:29 INFO: [Worker 0] Worker 0 house 507 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_2_0_6 completed with success=False	[pipeline.py: 1114]
+05/26 18:14:39 INFO: [Worker 0] Batching and saving trajectory data for house_507: 1 episodes	[pipeline.py: 233]
+05/26 18:14:39 INFO: [Worker 0] Preparing episode data: 451 timesteps	[save_utils.py: 284]
+05/26 18:14:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 659]
+05/26 18:14:46 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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_507	[save_utils.py: 703]
+05/26 18:14:46 INFO: [Worker 0] Successfully saved trajectory data for house_507 in 6.84s (batch: 6.48s, save: 0.36s)	[pipeline.py: 280]
+05/26 18:14:47 WARNING: [Worker 0] No trajectory data to save for house_507	[pipeline.py: 229]
+05/26 18:14:47 INFO: [Worker 0] Worker 0 completed house 507: 0/1 successful episodes	[pipeline.py: 1243]
+05/26 18:14:47 INFO: [Worker 0] Worker 0 starting house 573 (index 6/121)	[pipeline.py: 473]
+05/26 18:14:47 INFO: [Worker 0] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06	[json_eval_runner.py: 278]
+05/26 18:14:47 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]
+05/26 18:15:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_573_ceiling.xml	[task_sampler.py: 797]
+05/26 18:15:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 662]
+05/26 18:15:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val	[json_eval_task_sampler.py: 668]
+05/26 18:15:21 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects	[json_eval_task_sampler.py: 686]
+05/26 18:15:22 INFO: [Worker 0] Scene setup from episode spec completed.	[json_eval_task_sampler.py: 726]
+05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini'	[camera_manager.py: 510]
+05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization'	[camera_manager.py: 510]
+05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/26 18:15:22 INFO: [Worker 0] Sampled task 'Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump'	[task_sampler.py: 1136]
+05/26 18:15:22 INFO: [Worker 0] Worker 0 house 573 episode 0/1 collected=0/2	[pipeline.py: 1050]
+05/26 18:15:22 WARNING: [Worker 0] Policy <class 'psi_policy.molmospaces_adapter.policy.WanMolmoSpacesPolicy'> does not support tracking retries.	[sensors.py: 1071]
+05/26 18:15:22 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene	[object_manager.py: 1238]
+05/26 19:22:52 ERROR: Uncaught exception:	[mp_logging.py: 268]
+Traceback (most recent call last):
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in <module>
+    raise SystemExit(main())
+                     ^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main
+    results = run_evaluation(
+              ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation
+    success_count, total_count = runner.run(preloaded_policy=runner_policy)
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run
+    house_processing_worker(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker
+    runner_class.process_single_house(
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout
+    observation, reward, terminal, truncated, infos = task.step(action_cmd)
+                                                      ^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step
+    observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information()
+                                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information
+    observation = self.get_observations()
+                  ^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations
+    env_obs = self._sensor_suite.get_observations(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations
+    return {
+           ^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in <dictcomp>
+    uuid: sensor.get_observation(env=env, task=task, **kwargs)  # type: ignore
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation
+    info = task.get_info()[batch_index]
+           ^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info
+    r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms
+    bpoly, bz, bt = get_body_box(body)
+                    ^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box
+    c, e = body_aabb(self.model, self.data, bid)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb
+    return geom_aabb(model, data, geoms)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb
+    mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id)
+                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb
+    aabb_min = np.min(vertices, axis=0)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher
+    def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None,
+    
+KeyboardInterrupt

pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/episode_results.jsonl

@@ -0,0 +1,119 @@
+{"house_id": "house_1037", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal stake and place it next to the brown and blue compact alarm clock", "object_name": "objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray roller assembly with black frame and place it next to the green tree", "object_name": "objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1225", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garlic and place it next to the chocolate nut ice cream", "object_name": "objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown medium potato and place it next to the green cup with flared rim", "object_name": "Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool and place it next to the bulbous shiny gold vase", "object_name": "objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long slender dark stick and place it next to the white molding with flowers", "object_name": "objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal calendar and place it next to the black submarine", "object_name": "objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1729", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic juicer with legs and place it next to the soap bottle", "object_name": "objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1777", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it next to the glossy translucent cup with flared top", "object_name": "objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tangled wire sphere and place it next to the glossy black dog statue sitting", "object_name": "objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_1978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat brown h-shaped rectangular piece and place it next to the conical soap bottle with pump", "object_name": "objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2039", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden stake topped with red gem and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2162", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue hammer with orange handle and place it next to the murphy", "object_name": "objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green cup and place it next to the glossy round bowl", "object_name": "cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2374", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark spiked mace and place it next to the round brown bread", "object_name": "objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2475", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polygon and place it next to the terracotta molding", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the burnt white candle and place it next to the colorful puzzle cube", "object_name": "objacandle_464b8c40369549e98243c274e894bd4b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black camera with lens and place it next to the polished silver-gray metal vase", "object_name": "objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2800", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the jagged white marble piece with veins and place it next to the soapdispenser", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2873", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown animal statuette and place it next to the radio link", "object_name": "objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_2970", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fantasy hammer and place it next to the olive scalloped ceramic plate", "object_name": "objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3062", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sportsshoe and place it next to the red lighthouse", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3062", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the munition and place it next to the rustic wooden corbel support", "object_name": "objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3095", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn vintage gameboy console and place it next to the blue book", "object_name": "objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3095/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long colorful strip with texture and place it next to the ornate silver and gold gavel", "object_name": "objadecorativetrim_f8312d4b1883445ea7fd521a4504fde3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3208/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3263", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metallic camera with floral engravings and place it next to the oval brown potato", "object_name": "objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3300", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock", "object_name": "box_5358700257a2427d72759d135597dc51_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3300/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular electrical connector and place it next to the blue soap bottle with golden pump", "object_name": "objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3390/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3450", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife with blade and place it next to the soapdispenser", "object_name": "knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3529", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal frying pan and place it next to the bulbous shiny gold metallic vase", "object_name": "cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3529/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3635", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp with orange grips and place it next to the gray bird", "object_name": "objaspringclamp_a548ac5c9d014c83afed99f47f0eb118_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3635/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue handheld device with cylindrical barrel and place it next to the green lettuce", "object_name": "objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic detailed ivory skull and place it next to the tall dark gray decorative pillow", "object_name": "objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3790/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_3918", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the candle and place it next to the dark green matte suppressor device", "object_name": "candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3918/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife with sharp blade and place it next to the human hand", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4145", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue vhs with horror design and place it next to the clear glass martini cup", "object_name": "objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown gourd seedpod and place it next to the wooden trophy with pink white emblem", "object_name": "objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black ribbed plastic cap and place it next to the purple rectangular shiny quilted pillow", "object_name": "objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4240", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and yellow sponge and place it next to the tall transparent cup", "object_name": "objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4291", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gunsuppressor and place it next to the modern black toaster with metallic ridges", "object_name": "objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4325", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte gray wraparound safety glasses and place it next to the bulbous shiny gold metallic vase", "object_name": "objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray hourglass-shaped cup and place it next to the glossy green cup", "object_name": "cup_03f875ba63b7adc57ed0b350736f7167_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4400/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4494", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it next to the dark statue", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4494/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4622", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pin and place it next to the red white striped lighthouse with roof", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4680", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round rustic goblet and place it next to the blow drier", "object_name": "objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4716", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pin and place it next to the small beige clay tablet with engravings", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4800", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bell pepper with stem and place it next to the smokingpipe", "object_name": "objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4800/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4872", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade with lever and place it next to the glossy black trophy", "object_name": "objasmokegrenade_eb6b544af0ec4072b52d193c4d90efad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4872/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_4962", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black hairdryer with pink opening and place it next to the green dragon axe", "object_name": "objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5067", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 73, "task_description": "Pick up the portable black handheld radio with antenna and place it next to the beige fedora hat", "object_name": "objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5067/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5164", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the weathered stone medallion with flower and place it next to the brown egg", "object_name": "objadecorativemedallion_8ac2c0dc500f4477ad31ccfd82a106f3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5164/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5203", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black axe with camouflage handle and place it next to the tomato", "object_name": "objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden stamp handle and place it next to the bronze full-figured statue", "object_name": "objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5382/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5459", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray handheld video camera with handle and place it next to the slim blue cell phone with pattern", "object_name": "objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5459/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5546", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown wooden studded club and place it next to the thick yellow hardcover programming book", "object_name": "objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5612", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative eye sculpture and place it next to the glossy black dog statue", "object_name": "objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5612/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5668", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rectangular vintage phone and place it next to the purple rectangular shiny quilted pillow", "object_name": "objavintagemobilephone_440be7eb5de8469f84dbadefec1f0786_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5668/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_573", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige cartoon skeleton figure and place it next to the white candle with number four", "object_name": "objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5773/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5897", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver cross with grip and place it next to the black rectangular computer monitor", "object_name": "objadecorativestake_a7b05f15639049798a22ae3976000dc4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5897/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_5928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small circular device projecting blue light and place it next to the realistic primate skull", "object_name": "objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped wasp and place it next to the gray rubber mallet with wooden handle", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6068/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6143", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the porcelain dish with colorful floral patterns and place it next to the smooth red apple with stem", "object_name": "objadish_0f1f3038a3144ab88d39739cc980fdc1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6143/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6205", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pop up card and place it next to the bulbous shiny gold vase", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_621", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white ceramic teacup with handle and place it next to the ornate bronze faucet with curve", "object_name": "objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_621/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6269", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with orange pump and place it next to the gray bowl", "object_name": "soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6269/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue marker and place it next to the translucent blue soap bottle with pump", "object_name": "objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6391", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rough corroded circular metal ring and place it next to the square olive green plate", "object_name": "objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6391/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6437", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with red logo and place it next to the rustic horn candleholder", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6437", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the dark laptop", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6469", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden crescent moon pink wand and place it next to the laptop computer", "object_name": "objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6469/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6557", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the equipment and place it next to the marblesculpture", "object_name": "objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6557/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic red plastic cup with ridges and place it next to the smooth white triangular wedge with texture", "object_name": "objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent soap bottle with dark pump and place it next to the shallow dark round cooking pan", "object_name": "soapdispenser_92169e2640439bd67fb105701482b508_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_683", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garlic and place it next to the green tool", "object_name": "objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_683/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6903", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark blue triangular wedge and place it next to the plate", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_6978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black high-performance graphics card and place it next to the black metal scope mount with knob", "object_name": "objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6978/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7015", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular beige ceramic dish and place it next to the glossy translucent light blue bowl", "object_name": "objaceramicdish_2ad1dfed7b784a2bb12fc7cbcb5f4831_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7015/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7083", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue calendar with mountain design and place it next to the slim gold metallic phone", "object_name": "objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular sunglasses and place it next to the mallet", "object_name": "objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7174/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7286", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 41, "task_description": "Pick up the pink gnome with beard and place it next to the glossy translucent light blue bowl", "object_name": "objagardengnome_d2bbb5477fac472ca10ab8370aa18aae_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7286/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_729", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red bell pepper and place it next to the smooth green apple", "object_name": "objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware and place it next to the laptop computer", "object_name": "bowl_80746f55d05634985152668dea7876a0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7346/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7396", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden crimped pastry with crisscross pattern and place it next to the veggie", "object_name": "objapastry_5c98cf58df074aa89633a055ddef2e49_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7396/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7453", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white stand with red flag and place it next to the dentures", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7568", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gavel with brown handle and brass and place it next to the topographicalmap", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7568/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7668", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue eye with eyelashes and place it next to the spray bottle", "object_name": "objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7668/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7765", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 43, "task_description": "Pick up the futuristic purple toy blaster with accents and place it next to the yellow striped airship", "object_name": "objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated metal finial with base and place it next to the brown poop emoji with smile", "object_name": "objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_781/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7856", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink hexagonal headed screw and place it next to the brown loaf bread", "object_name": "objascrew_3c8aee2219d3478c877857da97042133_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7856/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_7970", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the light rubber mallet with handle and place it next to the rugged gray rocky terrain with moss", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8056", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark telephone and place it next to the table lamp", "object_name": "objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8125", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful cube and place it next to the dark rectangular plaque with engraved text", "object_name": "objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black wireless ergonomic mouse and place it next to the gray bowl", "object_name": "objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique dark metal knocker with figure and place it next to the black grenade with purple panels", "object_name": "objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8386", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gear and place it next to the gray bowl", "object_name": "objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical dark nhl pencilcase and place it next to the small red barn model with windows", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpledpaper and place it next to the soap bottle", "object_name": "objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8428", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chisel with wooden handle and place it next to the purple rectangular shiny quilted pillow", "object_name": "objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8506", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown bread loaf and place it next to the red glass vase", "object_name": "bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8627", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spray bottle and place it next to the small stemmed red apple", "object_name": "atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the transparent soap bottle with pump", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8701", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular electrical component and place it next to the digital clock", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8795", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal rod with perforated top and place it next to the angular dark stealth aircraft with wings", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8878", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished gold handbell and place it next to the invertebrate", "object_name": "objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_8950", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpled green nvidia package and place it next to the medium blue ceramic bowl with rim", "object_name": "objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carton and place it next to the bronze statue of nude female", "object_name": "box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9080", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek curved metal bottle opener and place it next to the yellow spiky hair bust silhouette", "object_name": "objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light wooden bridge with arches and place it next to the purple and yellow pixelated knife", "object_name": "objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9228", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pastry and place it next to the glossy brown goblet cup for beverages", "object_name": "objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handle metal bell and place it next to the modern metal desk lamp", "object_name": "objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9305", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the traditional wooden rubber stamp with metal and place it next to the yellow realme box", "object_name": "objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall vase with scalloped rim and place it next to the vintage wooden stamp handle", "object_name": "vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9494", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white space shuttle with red markings and place it next to the blue bolster pillow", "object_name": "objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it next to the tall dark cup with ridges base", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent rectangular plastic storage container and place it next to the gray hardcover book with gold", "object_name": "objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lavender soap bar with hole and emboss and place it next to the cream candle in blue holder", "object_name": "objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9821", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink rectangular popsicle on stick and place it next to the medium oval brown potato with texture", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_9940", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cross medal and place it next to the light blue dolphin with prominent fins", "object_name": "objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940/trajectories_batch_1_of_1.h5", "metadata": {}}

pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/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/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06",
+  "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/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv"
+}