diff --git a/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log b/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..aac7f3d1190ad24f072961986f0a4863c6fa5b3b --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log @@ -0,0 +1,2909 @@ +05/24 16:04:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/24 16:04:45 INFO: Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes [pipeline.py: 1279] +05/24 16:04:45 INFO: Evaluation configuration: [pipeline.py: 1286] +05/24 16:04:45 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_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/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + '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': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [5, + 33, + 38, + 49, + 72, + 76, + 91, + 100, + 105, + 115, + 132, + 140, + 161, + 169, + 184, + 198, + 203, + 209, + 219, + 231, + 246, + 253, + 264, + 288, + 295, + 312, + 319, + 332, + 336, + 353, + 364, + 378, + 381, + 398, + 407, + 428, + 429, + 450, + 452, + 474, + 482, + 497, + 514, + 515, + 531, + 542, + 555, + 560, + 577, + 581, + 602, + 610, + 622, + 630, + 644, + 654, + 668, + 676, + 692, + 711, + 726, + 727, + 746, + 752, + 771, + 774, + 795, + 809, + 828, + 834, + 848, + 863, + 874, + 889, + 901, + 902, + 925, + 926, + 945, + 952, + 966, + 971, + 985], + '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': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + '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] +05/24 16:04:45 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/24 16:04:45 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] +05/24 16:04:45 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/24 16:04:45 INFO: [Worker 0] Worker 0 starting house 5 (index 0/83) [pipeline.py: 473] +05/24 16:04:45 INFO: [Worker 0] Loaded 1 episodes for house 5 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:04:45 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] +05/24 16:04:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/24 16:04:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_5_ceiling.xml [task_sampler.py: 797] +05/24 16:04:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:04:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:04:48 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/24 16:04:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:04:48 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:04:48 INFO: [Worker 0] Worker 0 house 5 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:04:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:06:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:07:33 INFO: [Worker 0] Worker 0 house 5 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:07:35 INFO: [Worker 0] Batching and saving trajectory data for house_5: 1 episodes [pipeline.py: 233] +05/24 16:07:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:07:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:07:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_5 [save_utils.py: 703] +05/24 16:07:38 INFO: [Worker 0] Successfully saved trajectory data for house_5 in 2.60s (batch: 2.51s, save: 0.09s) [pipeline.py: 280] +05/24 16:07:38 WARNING: [Worker 0] No trajectory data to save for house_5 [pipeline.py: 229] +05/24 16:07:38 INFO: [Worker 0] Worker 0 completed house 5: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:07:38 INFO: [Worker 0] Worker 0 starting house 33 (index 1/83) [pipeline.py: 473] +05/24 16:07:38 INFO: [Worker 0] Loaded 1 episodes for house 33 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:07:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:07:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_33_ceiling.xml [task_sampler.py: 797] +05/24 16:07:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=33, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:07:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:07:40 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 16:07:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:07:40 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:07:40 INFO: [Worker 0] Worker 0 house 33 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:07:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:07:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:07:51 INFO: [Worker 0] Worker 0 house 33 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:07:55 INFO: [Worker 0] Batching and saving trajectory data for house_33: 1 episodes [pipeline.py: 233] +05/24 16:07:55 INFO: [Worker 0] Preparing episode data: 72 timesteps [save_utils.py: 284] +05/24 16:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:07:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_33 [save_utils.py: 703] +05/24 16:07:57 INFO: [Worker 0] Successfully saved trajectory data for house_33 in 2.35s (batch: 2.32s, save: 0.03s) [pipeline.py: 280] +05/24 16:07:57 WARNING: [Worker 0] No trajectory data to save for house_33 [pipeline.py: 229] +05/24 16:07:57 INFO: [Worker 0] Worker 0 completed house 33: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:07:57 INFO: [Worker 0] Worker 0 starting house 38 (index 2/83) [pipeline.py: 473] +05/24 16:07:57 INFO: [Worker 0] Loaded 2 episodes for house 38 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:07:58 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] +05/24 16:08:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml [task_sampler.py: 797] +05/24 16:08:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:08:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:08:00 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/24 16:08:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:08:00 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 16:08:00 INFO: [Worker 0] Worker 0 house 38 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:08:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:08:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:08:19 INFO: [Worker 0] Worker 0 house 38 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:08:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:08:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml [task_sampler.py: 797] +05/24 16:08:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:08:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:08:24 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/24 16:08:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:08:24 INFO: [Worker 0] Sampled task 'Pick up the edible fruit' [task_sampler.py: 1136] +05/24 16:08:24 INFO: [Worker 0] Worker 0 house 38 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:08:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:09:34 INFO: [Worker 0] Worker 0 house 38 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:09:38 INFO: [Worker 0] Batching and saving trajectory data for house_38: 2 episodes [pipeline.py: 233] +05/24 16:09:38 INFO: [Worker 0] Preparing episode data: 113 timesteps [save_utils.py: 284] +05/24 16:09:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:09:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:09:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:09:43 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_38 [save_utils.py: 703] +05/24 16:09:43 INFO: [Worker 0] Successfully saved trajectory data for house_38 in 4.70s (batch: 4.58s, save: 0.11s) [pipeline.py: 280] +05/24 16:09:43 WARNING: [Worker 0] No trajectory data to save for house_38 [pipeline.py: 229] +05/24 16:09:43 INFO: [Worker 0] Worker 0 completed house 38: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:09:43 INFO: [Worker 0] Worker 0 starting house 49 (index 3/83) [pipeline.py: 473] +05/24 16:09:43 INFO: [Worker 0] Loaded 1 episodes for house 49 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:09:43 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] +05/24 16:09:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_49_ceiling.xml [task_sampler.py: 797] +05/24 16:09:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=49, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:09:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:09:45 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/24 16:09:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:09:45 INFO: [Worker 0] Sampled task 'Pick up the blue spray bottle with nozzle' [task_sampler.py: 1136] +05/24 16:09:45 INFO: [Worker 0] Worker 0 house 49 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:09:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:11:00 INFO: [Worker 0] Worker 0 house 49 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 16:11:03 INFO: [Worker 0] Batching and saving trajectory data for house_49: 1 episodes [pipeline.py: 233] +05/24 16:11:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:11:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:11:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_49 [save_utils.py: 703] +05/24 16:11:06 INFO: [Worker 0] Successfully saved trajectory data for house_49 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/24 16:11:06 WARNING: [Worker 0] No trajectory data to save for house_49 [pipeline.py: 229] +05/24 16:11:06 INFO: [Worker 0] Worker 0 completed house 49: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:11:06 INFO: [Worker 0] Worker 0 starting house 72 (index 4/83) [pipeline.py: 473] +05/24 16:11:06 INFO: [Worker 0] Loaded 1 episodes for house 72 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:11:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:11:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_72_ceiling.xml [task_sampler.py: 797] +05/24 16:11:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=72, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:11:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:11:10 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:11:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:11:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:11:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:11:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:11:10 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:11:10 INFO: [Worker 0] Worker 0 house 72 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:11:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:11:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:12:30 INFO: [Worker 0] Worker 0 house 72 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:12:34 INFO: [Worker 0] Batching and saving trajectory data for house_72: 1 episodes [pipeline.py: 233] +05/24 16:12:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:12:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:12:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_72 [save_utils.py: 703] +05/24 16:12:36 INFO: [Worker 0] Successfully saved trajectory data for house_72 in 2.41s (batch: 2.33s, save: 0.08s) [pipeline.py: 280] +05/24 16:12:37 WARNING: [Worker 0] No trajectory data to save for house_72 [pipeline.py: 229] +05/24 16:12:37 INFO: [Worker 0] Worker 0 completed house 72: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:12:37 INFO: [Worker 0] Worker 0 starting house 76 (index 5/83) [pipeline.py: 473] +05/24 16:12:37 INFO: [Worker 0] Loaded 2 episodes for house 76 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:12:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:12:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml [task_sampler.py: 797] +05/24 16:12:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:12:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:12:39 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:12:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:12:39 INFO: [Worker 0] Sampled task 'Pick up the vessel' [task_sampler.py: 1136] +05/24 16:12:39 INFO: [Worker 0] Worker 0 house 76 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:12:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:12:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:13:50 INFO: [Worker 0] Worker 0 house 76 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:13:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:13:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml [task_sampler.py: 797] +05/24 16:13:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:13:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:13:55 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:13:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:13:55 INFO: [Worker 0] Sampled task 'Pick up the dark green glass wine bottle' [task_sampler.py: 1136] +05/24 16:13:55 INFO: [Worker 0] Worker 0 house 76 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:13:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:13:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:15:06 INFO: [Worker 0] Worker 0 house 76 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:15:10 INFO: [Worker 0] Batching and saving trajectory data for house_76: 2 episodes [pipeline.py: 233] +05/24 16:15:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:15:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:15:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:15:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:15:14 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_76 [save_utils.py: 703] +05/24 16:15:14 INFO: [Worker 0] Successfully saved trajectory data for house_76 in 4.87s (batch: 4.70s, save: 0.16s) [pipeline.py: 280] +05/24 16:15:15 WARNING: [Worker 0] No trajectory data to save for house_76 [pipeline.py: 229] +05/24 16:15:15 INFO: [Worker 0] Worker 0 completed house 76: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:15:15 INFO: [Worker 0] Worker 0 starting house 91 (index 6/83) [pipeline.py: 473] +05/24 16:15:15 INFO: [Worker 0] Loaded 2 episodes for house 91 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:15:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:15:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml [task_sampler.py: 797] +05/24 16:15:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:15:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:15:18 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:15:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:15:18 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:15:18 INFO: [Worker 0] Worker 0 house 91 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:15:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:15:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:16:31 INFO: [Worker 0] Worker 0 house 91 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:16:34 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] +05/24 16:16:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml [task_sampler.py: 797] +05/24 16:16:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:16:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:16:37 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:16:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:16:37 INFO: [Worker 0] Sampled task 'Pick up the blue metallic cooking pot with handle' [task_sampler.py: 1136] +05/24 16:16:37 INFO: [Worker 0] Worker 0 house 91 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:16:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:16:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:18:00 INFO: [Worker 0] Worker 0 house 91 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:18:03 INFO: [Worker 0] Batching and saving trajectory data for house_91: 2 episodes [pipeline.py: 233] +05/24 16:18:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:18:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:18:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:18:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:18:08 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_91 [save_utils.py: 703] +05/24 16:18:08 INFO: [Worker 0] Successfully saved trajectory data for house_91 in 5.42s (batch: 5.25s, save: 0.18s) [pipeline.py: 280] +05/24 16:18:09 WARNING: [Worker 0] No trajectory data to save for house_91 [pipeline.py: 229] +05/24 16:18:09 INFO: [Worker 0] Worker 0 completed house 91: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:18:09 INFO: [Worker 0] Worker 0 starting house 100 (index 7/83) [pipeline.py: 473] +05/24 16:18:09 INFO: [Worker 0] Loaded 1 episodes for house 100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:18:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:18:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_100_ceiling.xml [task_sampler.py: 797] +05/24 16:18:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=100, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:18:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:18:13 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/24 16:18:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:18:13 INFO: [Worker 0] Sampled task 'Pick up the green tissue' [task_sampler.py: 1136] +05/24 16:18:13 INFO: [Worker 0] Worker 0 house 100 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:18:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:18:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:19:32 INFO: [Worker 0] Worker 0 house 100 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 16:19:35 INFO: [Worker 0] Batching and saving trajectory data for house_100: 1 episodes [pipeline.py: 233] +05/24 16:19:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:19:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:19:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100 [save_utils.py: 703] +05/24 16:19:37 INFO: [Worker 0] Successfully saved trajectory data for house_100 in 1.97s (batch: 1.87s, save: 0.10s) [pipeline.py: 280] +05/24 16:19:37 WARNING: [Worker 0] No trajectory data to save for house_100 [pipeline.py: 229] +05/24 16:19:37 INFO: [Worker 0] Worker 0 completed house 100: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:19:37 INFO: [Worker 0] Worker 0 starting house 105 (index 8/83) [pipeline.py: 473] +05/24 16:19:37 INFO: [Worker 0] Loaded 2 episodes for house 105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:19:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:19:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml [task_sampler.py: 797] +05/24 16:19:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:19:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:19:41 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/24 16:19:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:19:42 INFO: [Worker 0] Sampled task 'Pick up the green tissue' [task_sampler.py: 1136] +05/24 16:19:42 INFO: [Worker 0] Worker 0 house 105 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:19:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:21:00 INFO: [Worker 0] Worker 0 house 105 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 16:21:02 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] +05/24 16:21:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml [task_sampler.py: 797] +05/24 16:21:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:21:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:21:06 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/24 16:21:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:21:06 INFO: [Worker 0] Sampled task 'Pick up the golden pump soap bottle' [task_sampler.py: 1136] +05/24 16:21:06 INFO: [Worker 0] Worker 0 house 105 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:21:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:21:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:22:26 INFO: [Worker 0] Worker 0 house 105 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 16:22:29 INFO: [Worker 0] Batching and saving trajectory data for house_105: 2 episodes [pipeline.py: 233] +05/24 16:22:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:22:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:22:34 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105 [save_utils.py: 703] +05/24 16:22:34 INFO: [Worker 0] Successfully saved trajectory data for house_105 in 4.87s (batch: 4.70s, save: 0.17s) [pipeline.py: 280] +05/24 16:22:34 WARNING: [Worker 0] No trajectory data to save for house_105 [pipeline.py: 229] +05/24 16:22:34 INFO: [Worker 0] Worker 0 completed house 105: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:22:34 INFO: [Worker 0] Worker 0 starting house 115 (index 9/83) [pipeline.py: 473] +05/24 16:22:34 INFO: [Worker 0] Loaded 2 episodes for house 115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:22:34 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] +05/24 16:22:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml [task_sampler.py: 797] +05/24 16:22:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:22:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:22:40 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/24 16:22:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:22:40 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 16:22:40 INFO: [Worker 0] Worker 0 house 115 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:22:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:22:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:23:02 INFO: [Worker 0] Worker 0 house 115 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 16:23:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:23:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml [task_sampler.py: 797] +05/24 16:23:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:23:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:23:11 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/24 16:23:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:23:11 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:23:11 INFO: [Worker 0] Worker 0 house 115 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:23:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:23:25 INFO: [Worker 0] Worker 0 house 115 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:23:27 INFO: [Worker 0] Batching and saving trajectory data for house_115: 2 episodes [pipeline.py: 233] +05/24 16:23:27 INFO: [Worker 0] Preparing episode data: 110 timesteps [save_utils.py: 284] +05/24 16:23:29 INFO: [Worker 0] Preparing episode data: 59 timesteps [save_utils.py: 284] +05/24 16:23:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:23:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:23:31 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115 [save_utils.py: 703] +05/24 16:23:31 INFO: [Worker 0] Successfully saved trajectory data for house_115 in 3.37s (batch: 3.31s, save: 0.06s) [pipeline.py: 280] +05/24 16:23:31 WARNING: [Worker 0] No trajectory data to save for house_115 [pipeline.py: 229] +05/24 16:23:31 INFO: [Worker 0] Worker 0 completed house 115: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:23:31 INFO: [Worker 0] Worker 0 starting house 132 (index 10/83) [pipeline.py: 473] +05/24 16:23:31 INFO: [Worker 0] Loaded 2 episodes for house 132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:23:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:23:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml [task_sampler.py: 797] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/24 16:23:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:23:38 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle' [task_sampler.py: 1136] +05/24 16:23:38 INFO: [Worker 0] Worker 0 house 132 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:23:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:25:11 INFO: [Worker 0] Worker 0 house 132 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:25:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:25:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml [task_sampler.py: 797] +05/24 16:25:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:25:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:25:20 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/24 16:25:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:25:20 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:25:20 INFO: [Worker 0] Worker 0 house 132 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:25:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:26:59 INFO: [Worker 0] Worker 0 house 132 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:27:02 INFO: [Worker 0] Batching and saving trajectory data for house_132: 2 episodes [pipeline.py: 233] +05/24 16:27:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:27:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:27:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:07 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132 [save_utils.py: 703] +05/24 16:27:07 INFO: [Worker 0] Successfully saved trajectory data for house_132 in 5.06s (batch: 4.89s, save: 0.17s) [pipeline.py: 280] +05/24 16:27:08 WARNING: [Worker 0] No trajectory data to save for house_132 [pipeline.py: 229] +05/24 16:27:08 INFO: [Worker 0] Worker 0 completed house 132: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:27:08 INFO: [Worker 0] Worker 0 starting house 140 (index 11/83) [pipeline.py: 473] +05/24 16:27:08 INFO: [Worker 0] Loaded 1 episodes for house 140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:27:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:27:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_140_ceiling.xml [task_sampler.py: 797] +05/24 16:27:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=140, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:27:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:27:11 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/24 16:27:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:27:11 INFO: [Worker 0] Sampled task 'Pick up the glossy brown rounded cup ceramic' [task_sampler.py: 1136] +05/24 16:27:11 INFO: [Worker 0] Worker 0 house 140 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:27:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:27:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:27:17 INFO: [Worker 0] Worker 0 house 140 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:27:21 INFO: [Worker 0] Batching and saving trajectory data for house_140: 1 episodes [pipeline.py: 233] +05/24 16:27:21 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/24 16:27:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_140 [save_utils.py: 703] +05/24 16:27:23 INFO: [Worker 0] Successfully saved trajectory data for house_140 in 2.33s (batch: 2.30s, save: 0.03s) [pipeline.py: 280] +05/24 16:27:24 WARNING: [Worker 0] No trajectory data to save for house_140 [pipeline.py: 229] +05/24 16:27:24 INFO: [Worker 0] Worker 0 completed house 140: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:27:24 INFO: [Worker 0] Worker 0 starting house 161 (index 12/83) [pipeline.py: 473] +05/24 16:27:24 INFO: [Worker 0] Loaded 1 episodes for house 161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:27:24 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] +05/24 16:27:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_161_ceiling.xml [task_sampler.py: 797] +05/24 16:27:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=161, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:27:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:27:25 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/24 16:27:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:27:25 INFO: [Worker 0] Sampled task 'Pick up the smooth translucent plastic cup' [task_sampler.py: 1136] +05/24 16:27:25 INFO: [Worker 0] Worker 0 house 161 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:27:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:27:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:27:32 INFO: [Worker 0] Worker 0 house 161 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:27:35 INFO: [Worker 0] Batching and saving trajectory data for house_161: 1 episodes [pipeline.py: 233] +05/24 16:27:36 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/24 16:27:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_161 [save_utils.py: 703] +05/24 16:27:38 INFO: [Worker 0] Successfully saved trajectory data for house_161 in 2.20s (batch: 2.17s, save: 0.03s) [pipeline.py: 280] +05/24 16:27:38 WARNING: [Worker 0] No trajectory data to save for house_161 [pipeline.py: 229] +05/24 16:27:38 INFO: [Worker 0] Worker 0 completed house 161: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:27:38 INFO: [Worker 0] Worker 0 starting house 169 (index 13/83) [pipeline.py: 473] +05/24 16:27:38 INFO: [Worker 0] Loaded 2 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:27:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:27:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml [task_sampler.py: 797] +05/24 16:27:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:27:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:27:42 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/24 16:27:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:27:42 INFO: [Worker 0] Sampled task 'Pick up the butter knife' [task_sampler.py: 1136] +05/24 16:27:42 INFO: [Worker 0] Worker 0 house 169 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:27:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:27:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:28:02 INFO: [Worker 0] Worker 0 house 169 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:28:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:28:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml [task_sampler.py: 797] +05/24 16:28:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:28:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:28:09 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/24 16:28:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:28:09 INFO: [Worker 0] Sampled task 'Pick up the pepper pot' [task_sampler.py: 1136] +05/24 16:28:09 INFO: [Worker 0] Worker 0 house 169 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:28:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:28:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:29:30 INFO: [Worker 0] Worker 0 house 169 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:29:33 INFO: [Worker 0] Batching and saving trajectory data for house_169: 2 episodes [pipeline.py: 233] +05/24 16:29:33 INFO: [Worker 0] Preparing episode data: 111 timesteps [save_utils.py: 284] +05/24 16:29:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:29:37 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_169 [save_utils.py: 703] +05/24 16:29:37 INFO: [Worker 0] Successfully saved trajectory data for house_169 in 3.86s (batch: 3.73s, save: 0.13s) [pipeline.py: 280] +05/24 16:29:37 WARNING: [Worker 0] No trajectory data to save for house_169 [pipeline.py: 229] +05/24 16:29:37 INFO: [Worker 0] Worker 0 completed house 169: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:29:37 INFO: [Worker 0] Worker 0 starting house 184 (index 14/83) [pipeline.py: 473] +05/24 16:29:37 INFO: [Worker 0] Loaded 1 episodes for house 184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:29:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:29:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_184_ceiling.xml [task_sampler.py: 797] +05/24 16:29:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=184, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:29:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:29:40 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/24 16:29:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:29:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:29:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:29:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:29:40 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle with golden pump' [task_sampler.py: 1136] +05/24 16:29:40 INFO: [Worker 0] Worker 0 house 184 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:29:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:29:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:05 INFO: [Worker 0] Worker 0 house 184 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=False [pipeline.py: 1114] +05/24 16:31:08 INFO: [Worker 0] Batching and saving trajectory data for house_184: 1 episodes [pipeline.py: 233] +05/24 16:31:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:31:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:31:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_184 [save_utils.py: 703] +05/24 16:31:09 INFO: [Worker 0] Successfully saved trajectory data for house_184 in 1.92s (batch: 1.83s, save: 0.09s) [pipeline.py: 280] +05/24 16:31:10 WARNING: [Worker 0] No trajectory data to save for house_184 [pipeline.py: 229] +05/24 16:31:10 INFO: [Worker 0] Worker 0 completed house 184: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:31:10 INFO: [Worker 0] Worker 0 starting house 198 (index 15/83) [pipeline.py: 473] +05/24 16:31:10 INFO: [Worker 0] Loaded 1 episodes for house 198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:31:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:31:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_198_ceiling.xml [task_sampler.py: 797] +05/24 16:31:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=198, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:14 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/24 16:31:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:14 INFO: [Worker 0] Sampled task 'Pick up the light brown bowl' [task_sampler.py: 1136] +05/24 16:31:14 INFO: [Worker 0] Worker 0 house 198 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:31:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:31:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:23 INFO: [Worker 0] Worker 0 house 198 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:31:26 INFO: [Worker 0] Batching and saving trajectory data for house_198: 1 episodes [pipeline.py: 233] +05/24 16:31:26 INFO: [Worker 0] Preparing episode data: 48 timesteps [save_utils.py: 284] +05/24 16:31:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:31:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_198 [save_utils.py: 703] +05/24 16:31:28 INFO: [Worker 0] Successfully saved trajectory data for house_198 in 2.24s (batch: 2.21s, save: 0.03s) [pipeline.py: 280] +05/24 16:31:29 WARNING: [Worker 0] No trajectory data to save for house_198 [pipeline.py: 229] +05/24 16:31:29 INFO: [Worker 0] Worker 0 completed house 198: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:31:29 INFO: [Worker 0] Worker 0 starting house 203 (index 16/83) [pipeline.py: 473] +05/24 16:31:29 INFO: [Worker 0] Loaded 3 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:31:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:31:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml [task_sampler.py: 797] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/24 16:31:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:31 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle with black handle' [task_sampler.py: 1136] +05/24 16:31:31 INFO: [Worker 0] Worker 0 house 203 episode 0/3 collected=0/3 [pipeline.py: 1050] +05/24 16:31:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:31:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:44 INFO: [Worker 0] Worker 0 house 203 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:31:47 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] +05/24 16:31:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml [task_sampler.py: 797] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/24 16:31:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:49 INFO: [Worker 0] Sampled task 'Pick up the black grip stainless steel ladle' [task_sampler.py: 1136] +05/24 16:31:49 INFO: [Worker 0] Worker 0 house 203 episode 1/3 collected=1/3 [pipeline.py: 1050] +05/24 16:31:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:31:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:32:59 INFO: [Worker 0] Worker 0 house 203 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:33:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:33:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml [task_sampler.py: 797] +05/24 16:33:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:33:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:33:04 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/24 16:33:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:33:04 INFO: [Worker 0] Sampled task 'Pick up the matte dark teal box' [task_sampler.py: 1136] +05/24 16:33:04 INFO: [Worker 0] Worker 0 house 203 episode 2/3 collected=2/3 [pipeline.py: 1050] +05/24 16:33:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:33:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:33:27 INFO: [Worker 0] Worker 0 house 203 episode 2 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_3 completed with success=True [pipeline.py: 1114] +05/24 16:33:31 INFO: [Worker 0] Batching and saving trajectory data for house_203: 3 episodes [pipeline.py: 233] +05/24 16:33:31 INFO: [Worker 0] Preparing episode data: 74 timesteps [save_utils.py: 284] +05/24 16:33:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:33:35 INFO: [Worker 0] Preparing episode data: 128 timesteps [save_utils.py: 284] +05/24 16:33:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:38 INFO: [Worker 0] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_203 [save_utils.py: 703] +05/24 16:33:38 INFO: [Worker 0] Successfully saved trajectory data for house_203 in 6.90s (batch: 6.72s, save: 0.17s) [pipeline.py: 280] +05/24 16:33:38 WARNING: [Worker 0] No trajectory data to save for house_203 [pipeline.py: 229] +05/24 16:33:38 INFO: [Worker 0] Worker 0 completed house 203: 2/3 successful episodes [pipeline.py: 1243] +05/24 16:33:38 INFO: [Worker 0] Worker 0 starting house 209 (index 17/83) [pipeline.py: 473] +05/24 16:33:38 INFO: [Worker 0] Loaded 2 episodes for house 209 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:33:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:33:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml [task_sampler.py: 797] +05/24 16:33:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:33:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:33:40 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/24 16:33:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:33:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:33:40 INFO: [Worker 0] Sampled task 'Pick up the glass salt shaker' [task_sampler.py: 1136] +05/24 16:33:40 INFO: [Worker 0] Worker 0 house 209 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:33:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:33:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:33:50 INFO: [Worker 0] Worker 0 house 209 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:33:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:33:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml [task_sampler.py: 797] +05/24 16:33:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:33:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:33:56 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/24 16:33:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:33:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:33:56 INFO: [Worker 0] Sampled task 'Pick up the shiny silver metallic kettle with handle' [task_sampler.py: 1136] +05/24 16:33:56 INFO: [Worker 0] Worker 0 house 209 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:33:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:33:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:34:04 INFO: [Worker 0] Worker 0 house 209 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:34:06 INFO: [Worker 0] Batching and saving trajectory data for house_209: 2 episodes [pipeline.py: 233] +05/24 16:34:06 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/24 16:34:08 INFO: [Worker 0] Preparing episode data: 42 timesteps [save_utils.py: 284] +05/24 16:34:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:34:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:34:10 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_209 [save_utils.py: 703] +05/24 16:34:10 INFO: [Worker 0] Successfully saved trajectory data for house_209 in 3.32s (batch: 3.27s, save: 0.05s) [pipeline.py: 280] +05/24 16:34:10 WARNING: [Worker 0] No trajectory data to save for house_209 [pipeline.py: 229] +05/24 16:34:10 INFO: [Worker 0] Worker 0 completed house 209: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:34:10 INFO: [Worker 0] Worker 0 starting house 219 (index 18/83) [pipeline.py: 473] +05/24 16:34:10 INFO: [Worker 0] Loaded 1 episodes for house 219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:34:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:34:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_219_ceiling.xml [task_sampler.py: 797] +05/24 16:34:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=219, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:34:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:34:16 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/24 16:34:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:34:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:34:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:34:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:34:16 INFO: [Worker 0] Sampled task 'Pick up the yellow handle kitchen knife' [task_sampler.py: 1136] +05/24 16:34:16 INFO: [Worker 0] Worker 0 house 219 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:34:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:35:45 INFO: [Worker 0] Worker 0 house 219 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:35:47 INFO: [Worker 0] Batching and saving trajectory data for house_219: 1 episodes [pipeline.py: 233] +05/24 16:35:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:35:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:35:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_219 [save_utils.py: 703] +05/24 16:35:49 INFO: [Worker 0] Successfully saved trajectory data for house_219 in 1.92s (batch: 1.83s, save: 0.09s) [pipeline.py: 280] +05/24 16:35:50 WARNING: [Worker 0] No trajectory data to save for house_219 [pipeline.py: 229] +05/24 16:35:50 INFO: [Worker 0] Worker 0 completed house 219: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:35:50 INFO: [Worker 0] Worker 0 starting house 231 (index 19/83) [pipeline.py: 473] +05/24 16:35:50 INFO: [Worker 0] Loaded 2 episodes for house 231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:35:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:35:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml [task_sampler.py: 797] +05/24 16:35:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:35:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:35:53 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/24 16:35:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:35:53 INFO: [Worker 0] Sampled task 'Pick up the eating utensil' [task_sampler.py: 1136] +05/24 16:35:53 INFO: [Worker 0] Worker 0 house 231 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:35:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:35:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:37:18 INFO: [Worker 0] Worker 0 house 231 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:37:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:37:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml [task_sampler.py: 797] +05/24 16:37:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:37:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:37:24 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/24 16:37:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:37:24 INFO: [Worker 0] Sampled task 'Pick up the glass salt shaker' [task_sampler.py: 1136] +05/24 16:37:24 INFO: [Worker 0] Worker 0 house 231 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:37:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:37:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:38:45 INFO: [Worker 0] Worker 0 house 231 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:38:48 INFO: [Worker 0] Batching and saving trajectory data for house_231: 2 episodes [pipeline.py: 233] +05/24 16:38:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:38:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:38:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:38:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:38:52 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_231 [save_utils.py: 703] +05/24 16:38:52 INFO: [Worker 0] Successfully saved trajectory data for house_231 in 3.88s (batch: 3.71s, save: 0.17s) [pipeline.py: 280] +05/24 16:38:52 WARNING: [Worker 0] No trajectory data to save for house_231 [pipeline.py: 229] +05/24 16:38:52 INFO: [Worker 0] Worker 0 completed house 231: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:38:52 INFO: [Worker 0] Worker 0 starting house 246 (index 20/83) [pipeline.py: 473] +05/24 16:38:52 INFO: [Worker 0] Loaded 1 episodes for house 246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:38:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:38:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_246_ceiling.xml [task_sampler.py: 797] +05/24 16:38:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=246, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:38:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:38:54 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/24 16:38:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:38:54 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 16:38:54 INFO: [Worker 0] Worker 0 house 246 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:38:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:38:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:40:03 INFO: [Worker 0] Worker 0 house 246 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:40:06 INFO: [Worker 0] Batching and saving trajectory data for house_246: 1 episodes [pipeline.py: 233] +05/24 16:40:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:40:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:40:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_246 [save_utils.py: 703] +05/24 16:40:08 INFO: [Worker 0] Successfully saved trajectory data for house_246 in 2.40s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/24 16:40:09 WARNING: [Worker 0] No trajectory data to save for house_246 [pipeline.py: 229] +05/24 16:40:09 INFO: [Worker 0] Worker 0 completed house 246: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:40:09 INFO: [Worker 0] Worker 0 starting house 253 (index 21/83) [pipeline.py: 473] +05/24 16:40:09 INFO: [Worker 0] Loaded 2 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:40:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:40:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml [task_sampler.py: 797] +05/24 16:40:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:40:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:40:11 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:40:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:40:11 INFO: [Worker 0] Sampled task 'Pick up the glass salt shaker' [task_sampler.py: 1136] +05/24 16:40:11 INFO: [Worker 0] Worker 0 house 253 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:40:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:40:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:41:26 INFO: [Worker 0] Worker 0 house 253 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:41:30 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] +05/24 16:41:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml [task_sampler.py: 797] +05/24 16:41:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:41:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:41:32 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:41:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:41:32 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 16:41:32 INFO: [Worker 0] Worker 0 house 253 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:41:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:41:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:41:45 INFO: [Worker 0] Worker 0 house 253 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:41:48 INFO: [Worker 0] Batching and saving trajectory data for house_253: 2 episodes [pipeline.py: 233] +05/24 16:41:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:41:50 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 284] +05/24 16:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:41:51 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_253 [save_utils.py: 703] +05/24 16:41:51 INFO: [Worker 0] Successfully saved trajectory data for house_253 in 3.64s (batch: 3.51s, save: 0.12s) [pipeline.py: 280] +05/24 16:41:52 WARNING: [Worker 0] No trajectory data to save for house_253 [pipeline.py: 229] +05/24 16:41:52 INFO: [Worker 0] Worker 0 completed house 253: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:41:52 INFO: [Worker 0] Worker 0 starting house 264 (index 22/83) [pipeline.py: 473] +05/24 16:41:52 INFO: [Worker 0] Loaded 1 episodes for house 264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:41:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:41:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_264_ceiling.xml [task_sampler.py: 797] +05/24 16:41:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=264, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:41:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:41:54 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/24 16:41:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:41:54 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle with black handle' [task_sampler.py: 1136] +05/24 16:41:54 INFO: [Worker 0] Worker 0 house 264 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:41:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:41:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:43:09 INFO: [Worker 0] Worker 0 house 264 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:43:12 INFO: [Worker 0] Batching and saving trajectory data for house_264: 1 episodes [pipeline.py: 233] +05/24 16:43:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:43:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:43:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_264 [save_utils.py: 703] +05/24 16:43:15 INFO: [Worker 0] Successfully saved trajectory data for house_264 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/24 16:43:15 WARNING: [Worker 0] No trajectory data to save for house_264 [pipeline.py: 229] +05/24 16:43:15 INFO: [Worker 0] Worker 0 completed house 264: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:43:15 INFO: [Worker 0] Worker 0 starting house 288 (index 23/83) [pipeline.py: 473] +05/24 16:43:15 INFO: [Worker 0] Loaded 2 episodes for house 288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:43:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:43:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml [task_sampler.py: 797] +05/24 16:43:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:43:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:43:17 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/24 16:43:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:43:17 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle with golden pump' [task_sampler.py: 1136] +05/24 16:43:17 INFO: [Worker 0] Worker 0 house 288 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:43:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:43:26 INFO: [Worker 0] Worker 0 house 288 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True [pipeline.py: 1114] +05/24 16:43:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:43:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml [task_sampler.py: 797] +05/24 16:43:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:43:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:43:31 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/24 16:43:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:43:31 INFO: [Worker 0] Sampled task 'Pick up the blue plastic spray bottle with nozzle' [task_sampler.py: 1136] +05/24 16:43:31 INFO: [Worker 0] Worker 0 house 288 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:43:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:44:38 INFO: [Worker 0] Worker 0 house 288 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 16:44:42 INFO: [Worker 0] Batching and saving trajectory data for house_288: 2 episodes [pipeline.py: 233] +05/24 16:44:42 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 16:44:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:44:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:44:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:44:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_288 [save_utils.py: 703] +05/24 16:44:46 INFO: [Worker 0] Successfully saved trajectory data for house_288 in 4.74s (batch: 4.63s, save: 0.11s) [pipeline.py: 280] +05/24 16:44:47 WARNING: [Worker 0] No trajectory data to save for house_288 [pipeline.py: 229] +05/24 16:44:47 INFO: [Worker 0] Worker 0 completed house 288: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:44:47 INFO: [Worker 0] Worker 0 starting house 295 (index 24/83) [pipeline.py: 473] +05/24 16:44:47 INFO: [Worker 0] Loaded 1 episodes for house 295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:44:47 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] +05/24 16:44:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_295_ceiling.xml [task_sampler.py: 797] +05/24 16:44:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=295, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:44:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:44:48 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/24 16:44:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:44:48 INFO: [Worker 0] Sampled task 'Pick up the black plastic remote' [task_sampler.py: 1136] +05/24 16:44:48 INFO: [Worker 0] Worker 0 house 295 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:44:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:45:58 INFO: [Worker 0] Worker 0 house 295 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:46:00 INFO: [Worker 0] Batching and saving trajectory data for house_295: 1 episodes [pipeline.py: 233] +05/24 16:46:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:46:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:46:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_295 [save_utils.py: 703] +05/24 16:46:03 INFO: [Worker 0] Successfully saved trajectory data for house_295 in 1.91s (batch: 1.82s, save: 0.09s) [pipeline.py: 280] +05/24 16:46:03 WARNING: [Worker 0] No trajectory data to save for house_295 [pipeline.py: 229] +05/24 16:46:03 INFO: [Worker 0] Worker 0 completed house 295: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:46:03 INFO: [Worker 0] Worker 0 starting house 312 (index 25/83) [pipeline.py: 473] +05/24 16:46:03 INFO: [Worker 0] Loaded 2 episodes for house 312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:46:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:46:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml [task_sampler.py: 797] +05/24 16:46:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:46:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:46:06 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 16:46:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:46:06 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle with golden pump' [task_sampler.py: 1136] +05/24 16:46:06 INFO: [Worker 0] Worker 0 house 312 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:46:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:46:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:47:16 INFO: [Worker 0] Worker 0 house 312 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:47:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:47:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml [task_sampler.py: 797] +05/24 16:47:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:47:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:47:21 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 16:47:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:47:21 INFO: [Worker 0] Sampled task 'Pick up the small gray cup' [task_sampler.py: 1136] +05/24 16:47:21 INFO: [Worker 0] Worker 0 house 312 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:47:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:47:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:48:37 INFO: [Worker 0] Worker 0 house 312 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:48:39 INFO: [Worker 0] Batching and saving trajectory data for house_312: 2 episodes [pipeline.py: 233] +05/24 16:48:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:48:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:48:43 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_312 [save_utils.py: 703] +05/24 16:48:43 INFO: [Worker 0] Successfully saved trajectory data for house_312 in 3.86s (batch: 3.69s, save: 0.17s) [pipeline.py: 280] +05/24 16:48:44 WARNING: [Worker 0] No trajectory data to save for house_312 [pipeline.py: 229] +05/24 16:48:44 INFO: [Worker 0] Worker 0 completed house 312: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:48:44 INFO: [Worker 0] Worker 0 starting house 319 (index 26/83) [pipeline.py: 473] +05/24 16:48:44 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/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:48:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:48:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_319_ceiling.xml [task_sampler.py: 797] +05/24 16:48:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:48:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:48:50 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/24 16:48:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:48:50 INFO: [Worker 0] Sampled task 'Pick up the slender shiny polished metal spoon' [task_sampler.py: 1136] +05/24 16:48:50 INFO: [Worker 0] Worker 0 house 319 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:48:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:49:09 INFO: [Worker 0] Worker 0 house 319 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:49:12 INFO: [Worker 0] Batching and saving trajectory data for house_319: 1 episodes [pipeline.py: 233] +05/24 16:49:12 INFO: [Worker 0] Preparing episode data: 87 timesteps [save_utils.py: 284] +05/24 16:49:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:49:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_319 [save_utils.py: 703] +05/24 16:49:13 INFO: [Worker 0] Successfully saved trajectory data for house_319 in 1.69s (batch: 1.65s, save: 0.04s) [pipeline.py: 280] +05/24 16:49:14 WARNING: [Worker 0] No trajectory data to save for house_319 [pipeline.py: 229] +05/24 16:49:14 INFO: [Worker 0] Worker 0 completed house 319: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:49:14 INFO: [Worker 0] Worker 0 starting house 332 (index 27/83) [pipeline.py: 473] +05/24 16:49:14 INFO: [Worker 0] Loaded 2 episodes for house 332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:49:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:49:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml [task_sampler.py: 797] +05/24 16:49:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:49:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:49:15 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/24 16:49:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:49:16 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:49:16 INFO: [Worker 0] Worker 0 house 332 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:49:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:49:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:50:25 INFO: [Worker 0] Worker 0 house 332 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:50:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:50:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml [task_sampler.py: 797] +05/24 16:50:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:50:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:50:29 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/24 16:50:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:50:30 INFO: [Worker 0] Sampled task 'Pick up the metal pot' [task_sampler.py: 1136] +05/24 16:50:30 INFO: [Worker 0] Worker 0 house 332 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:50:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:50:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:50:42 INFO: [Worker 0] Worker 0 house 332 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:50:45 INFO: [Worker 0] Batching and saving trajectory data for house_332: 2 episodes [pipeline.py: 233] +05/24 16:50:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:50:47 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 284] +05/24 16:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:50:50 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_332 [save_utils.py: 703] +05/24 16:50:50 INFO: [Worker 0] Successfully saved trajectory data for house_332 in 4.69s (batch: 4.58s, save: 0.11s) [pipeline.py: 280] +05/24 16:50:50 WARNING: [Worker 0] No trajectory data to save for house_332 [pipeline.py: 229] +05/24 16:50:50 INFO: [Worker 0] Worker 0 completed house 332: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:50:50 INFO: [Worker 0] Worker 0 starting house 336 (index 28/83) [pipeline.py: 473] +05/24 16:50:50 INFO: [Worker 0] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:50:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:50:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_336_ceiling.xml [task_sampler.py: 797] +05/24 16:50:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:50:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:50:52 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/24 16:50:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:50:52 INFO: [Worker 0] Sampled task 'Pick up the light ceramic shallow round bowl' [task_sampler.py: 1136] +05/24 16:50:52 INFO: [Worker 0] Worker 0 house 336 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:50:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:50:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:51:00 INFO: [Worker 0] Worker 0 house 336 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_3 completed with success=True [pipeline.py: 1114] +05/24 16:51:03 INFO: [Worker 0] Batching and saving trajectory data for house_336: 1 episodes [pipeline.py: 233] +05/24 16:51:03 INFO: [Worker 0] Preparing episode data: 54 timesteps [save_utils.py: 284] +05/24 16:51:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:51:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_336 [save_utils.py: 703] +05/24 16:51:05 INFO: [Worker 0] Successfully saved trajectory data for house_336 in 2.19s (batch: 2.16s, save: 0.04s) [pipeline.py: 280] +05/24 16:51:06 WARNING: [Worker 0] No trajectory data to save for house_336 [pipeline.py: 229] +05/24 16:51:06 INFO: [Worker 0] Worker 0 completed house 336: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:51:06 INFO: [Worker 0] Worker 0 starting house 353 (index 29/83) [pipeline.py: 473] +05/24 16:51:06 INFO: [Worker 0] Loaded 1 episodes for house 353 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:51:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:51:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_353_ceiling.xml [task_sampler.py: 797] +05/24 16:51:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=353, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:51:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:51:10 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/24 16:51:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:51:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:51:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:51:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:51:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:51:10 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 16:51:10 INFO: [Worker 0] Worker 0 house 353 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:51:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:52:28 INFO: [Worker 0] Worker 0 house 353 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:52:32 INFO: [Worker 0] Batching and saving trajectory data for house_353: 1 episodes [pipeline.py: 233] +05/24 16:52:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:52:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:52:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_353 [save_utils.py: 703] +05/24 16:52:34 INFO: [Worker 0] Successfully saved trajectory data for house_353 in 2.50s (batch: 2.40s, save: 0.10s) [pipeline.py: 280] +05/24 16:52:35 WARNING: [Worker 0] No trajectory data to save for house_353 [pipeline.py: 229] +05/24 16:52:35 INFO: [Worker 0] Worker 0 completed house 353: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:52:35 INFO: [Worker 0] Worker 0 starting house 364 (index 30/83) [pipeline.py: 473] +05/24 16:52:35 INFO: [Worker 0] Loaded 2 episodes for house 364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:52:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:52:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml [task_sampler.py: 797] +05/24 16:52:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:52:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:52:37 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:52:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:52:37 INFO: [Worker 0] Sampled task 'Pick up the green wine bottle' [task_sampler.py: 1136] +05/24 16:52:37 INFO: [Worker 0] Worker 0 house 364 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:52:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:52:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:52:43 INFO: [Worker 0] Worker 0 house 364 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:52:45 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] +05/24 16:52:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml [task_sampler.py: 797] +05/24 16:52:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:52:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:52:48 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:52:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:52:48 INFO: [Worker 0] Sampled task 'Pick up the small shiny red apple with stem' [task_sampler.py: 1136] +05/24 16:52:48 INFO: [Worker 0] Worker 0 house 364 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:52:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:52:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:53:58 INFO: [Worker 0] Worker 0 house 364 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:54:01 INFO: [Worker 0] Batching and saving trajectory data for house_364: 2 episodes [pipeline.py: 233] +05/24 16:54:01 INFO: [Worker 0] Preparing episode data: 33 timesteps [save_utils.py: 284] +05/24 16:54:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:54:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:54:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:54:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_364 [save_utils.py: 703] +05/24 16:54:05 INFO: [Worker 0] Successfully saved trajectory data for house_364 in 3.64s (batch: 3.53s, save: 0.11s) [pipeline.py: 280] +05/24 16:54:05 WARNING: [Worker 0] No trajectory data to save for house_364 [pipeline.py: 229] +05/24 16:54:05 INFO: [Worker 0] Worker 0 completed house 364: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:54:05 INFO: [Worker 0] Worker 0 starting house 378 (index 31/83) [pipeline.py: 473] +05/24 16:54:05 INFO: [Worker 0] Loaded 2 episodes for house 378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:54:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:54:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml [task_sampler.py: 797] +05/24 16:54:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:54:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:54:09 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:54:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:54:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:54:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:54:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:54:09 INFO: [Worker 0] Sampled task 'Pick up the dark metallic cooking pot' [task_sampler.py: 1136] +05/24 16:54:09 INFO: [Worker 0] Worker 0 house 378 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:54:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:54:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:54:20 INFO: [Worker 0] Worker 0 house 378 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:54:23 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] +05/24 16:54:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml [task_sampler.py: 797] +05/24 16:54:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:54:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:54:26 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:54:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:54:26 INFO: [Worker 0] Sampled task 'Pick up the slender polished metal butter knife' [task_sampler.py: 1136] +05/24 16:54:26 INFO: [Worker 0] Worker 0 house 378 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:54:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:54:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:54:35 INFO: [Worker 0] Worker 0 house 378 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:54:38 INFO: [Worker 0] Batching and saving trajectory data for house_378: 2 episodes [pipeline.py: 233] +05/24 16:54:38 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 16:54:39 INFO: [Worker 0] Preparing episode data: 47 timesteps [save_utils.py: 284] +05/24 16:54:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:54:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:54:41 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_378 [save_utils.py: 703] +05/24 16:54:41 INFO: [Worker 0] Successfully saved trajectory data for house_378 in 3.31s (batch: 3.25s, save: 0.05s) [pipeline.py: 280] +05/24 16:54:41 WARNING: [Worker 0] No trajectory data to save for house_378 [pipeline.py: 229] +05/24 16:54:41 INFO: [Worker 0] Worker 0 completed house 378: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:54:41 INFO: [Worker 0] Worker 0 starting house 381 (index 32/83) [pipeline.py: 473] +05/24 16:54:41 INFO: [Worker 0] Loaded 1 episodes for house 381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:54:41 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] +05/24 16:54:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_381_ceiling.xml [task_sampler.py: 797] +05/24 16:54:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=381, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:54:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:54:45 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 16:54:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:54:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:54:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:54:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:54:45 INFO: [Worker 0] Sampled task 'Pick up the black grip stainless steel ladle' [task_sampler.py: 1136] +05/24 16:54:45 INFO: [Worker 0] Worker 0 house 381 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:54:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:54:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:56:01 INFO: [Worker 0] Worker 0 house 381 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:56:03 INFO: [Worker 0] Batching and saving trajectory data for house_381: 1 episodes [pipeline.py: 233] +05/24 16:56:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:56:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:56:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_381 [save_utils.py: 703] +05/24 16:56:05 INFO: [Worker 0] Successfully saved trajectory data for house_381 in 1.92s (batch: 1.84s, save: 0.09s) [pipeline.py: 280] +05/24 16:56:06 WARNING: [Worker 0] No trajectory data to save for house_381 [pipeline.py: 229] +05/24 16:56:06 INFO: [Worker 0] Worker 0 completed house 381: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:56:06 INFO: [Worker 0] Worker 0 starting house 398 (index 33/83) [pipeline.py: 473] +05/24 16:56:06 INFO: [Worker 0] Loaded 2 episodes for house 398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:56:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:56:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml [task_sampler.py: 797] +05/24 16:56:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:56:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:56:07 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/24 16:56:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:56:07 INFO: [Worker 0] Sampled task 'Pick up the dark green glass wine bottle' [task_sampler.py: 1136] +05/24 16:56:07 INFO: [Worker 0] Worker 0 house 398 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:56:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:56:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:56:19 INFO: [Worker 0] Worker 0 house 398 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:56:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:56:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml [task_sampler.py: 797] +05/24 16:56:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:56:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:56:23 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/24 16:56:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:56:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:56:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:56:23 INFO: [Worker 0] Sampled task 'Pick up the soapdispenser' [task_sampler.py: 1136] +05/24 16:56:23 INFO: [Worker 0] Worker 0 house 398 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 16:56:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:56:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:57:29 INFO: [Worker 0] Worker 0 house 398 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:57:32 INFO: [Worker 0] Batching and saving trajectory data for house_398: 2 episodes [pipeline.py: 233] +05/24 16:57:32 INFO: [Worker 0] Preparing episode data: 70 timesteps [save_utils.py: 284] +05/24 16:57:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:57:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:57:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:57:37 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_398 [save_utils.py: 703] +05/24 16:57:37 INFO: [Worker 0] Successfully saved trajectory data for house_398 in 4.63s (batch: 4.52s, save: 0.11s) [pipeline.py: 280] +05/24 16:57:37 WARNING: [Worker 0] No trajectory data to save for house_398 [pipeline.py: 229] +05/24 16:57:37 INFO: [Worker 0] Worker 0 completed house 398: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:57:37 INFO: [Worker 0] Worker 0 starting house 407 (index 34/83) [pipeline.py: 473] +05/24 16:57:37 INFO: [Worker 0] Loaded 1 episodes for house 407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:57:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:57:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_407_ceiling.xml [task_sampler.py: 797] +05/24 16:57:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=407, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:57:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:57:46 INFO: [Worker 0] randomize_scene: Setting poses for 111 objects [json_eval_task_sampler.py: 686] +05/24 16:57:46 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/24 16:57:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:57:46 INFO: [Worker 0] Sampled task 'Pick up the open brown cardboard box' [task_sampler.py: 1136] +05/24 16:57:46 INFO: [Worker 0] Worker 0 house 407 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 16:57:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:57:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:59:26 INFO: [Worker 0] Worker 0 house 407 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 16:59:29 INFO: [Worker 0] Batching and saving trajectory data for house_407: 1 episodes [pipeline.py: 233] +05/24 16:59:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:59:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:59:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_407 [save_utils.py: 703] +05/24 16:59:31 INFO: [Worker 0] Successfully saved trajectory data for house_407 in 1.98s (batch: 1.89s, save: 0.09s) [pipeline.py: 280] +05/24 16:59:31 WARNING: [Worker 0] No trajectory data to save for house_407 [pipeline.py: 229] +05/24 16:59:31 INFO: [Worker 0] Worker 0 completed house 407: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:59:31 INFO: [Worker 0] Worker 0 starting house 428 (index 35/83) [pipeline.py: 473] +05/24 16:59:31 INFO: [Worker 0] Loaded 2 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 16:59:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:59:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml [task_sampler.py: 797] +05/24 16:59:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:59:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:59:35 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/24 16:59:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:59:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:59:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:59:35 INFO: [Worker 0] Sampled task 'Pick up the green tissue box rectangular' [task_sampler.py: 1136] +05/24 16:59:35 INFO: [Worker 0] Worker 0 house 428 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 16:59:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:59:55 INFO: [Worker 0] Worker 0 house 428 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 16:59:58 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] +05/24 17:00:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml [task_sampler.py: 797] +05/24 17:00:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:00:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:00:02 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/24 17:00:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:00:02 INFO: [Worker 0] Sampled task 'Pick up the green wine bottle' [task_sampler.py: 1136] +05/24 17:00:02 INFO: [Worker 0] Worker 0 house 428 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:00:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:00:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:01:17 INFO: [Worker 0] Worker 0 house 428 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:01:20 INFO: [Worker 0] Batching and saving trajectory data for house_428: 2 episodes [pipeline.py: 233] +05/24 17:01:20 INFO: [Worker 0] Preparing episode data: 113 timesteps [save_utils.py: 284] +05/24 17:01:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:01:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:01:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:01:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_428 [save_utils.py: 703] +05/24 17:01:23 INFO: [Worker 0] Successfully saved trajectory data for house_428 in 3.66s (batch: 3.55s, save: 0.12s) [pipeline.py: 280] +05/24 17:01:24 WARNING: [Worker 0] No trajectory data to save for house_428 [pipeline.py: 229] +05/24 17:01:24 INFO: [Worker 0] Worker 0 completed house 428: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:01:24 INFO: [Worker 0] Worker 0 starting house 429 (index 36/83) [pipeline.py: 473] +05/24 17:01:24 INFO: [Worker 0] Loaded 1 episodes for house 429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:01:24 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] +05/24 17:01:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_429_ceiling.xml [task_sampler.py: 797] +05/24 17:01:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=429, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:01:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:01:25 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/24 17:01:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:01:25 INFO: [Worker 0] Sampled task 'Pick up the polished stainless steel fork with curve' [task_sampler.py: 1136] +05/24 17:01:25 INFO: [Worker 0] Worker 0 house 429 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:01:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:01:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:01:33 INFO: [Worker 0] Worker 0 house 429 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:01:36 INFO: [Worker 0] Batching and saving trajectory data for house_429: 1 episodes [pipeline.py: 233] +05/24 17:01:37 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 17:01:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:01:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_429 [save_utils.py: 703] +05/24 17:01:39 INFO: [Worker 0] Successfully saved trajectory data for house_429 in 1.66s (batch: 1.62s, save: 0.04s) [pipeline.py: 280] +05/24 17:01:39 WARNING: [Worker 0] No trajectory data to save for house_429 [pipeline.py: 229] +05/24 17:01:39 INFO: [Worker 0] Worker 0 completed house 429: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:01:39 INFO: [Worker 0] Worker 0 starting house 450 (index 37/83) [pipeline.py: 473] +05/24 17:01:39 INFO: [Worker 0] Loaded 2 episodes for house 450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:01:39 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] +05/24 17:01:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml [task_sampler.py: 797] +05/24 17:01:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:01:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:01:46 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/24 17:01:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:01:46 INFO: [Worker 0] Sampled task 'Pick up the orange conical spray bottle with nozzle' [task_sampler.py: 1136] +05/24 17:01:46 INFO: [Worker 0] Worker 0 house 450 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:01:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:01:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:03:24 INFO: [Worker 0] Worker 0 house 450 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_7 completed with success=False [pipeline.py: 1114] +05/24 17:03:27 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] +05/24 17:03:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml [task_sampler.py: 797] +05/24 17:03:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:03:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:03:34 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/24 17:03:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:03:34 INFO: [Worker 0] Sampled task 'Pick up the clear tapered cylindrical cup' [task_sampler.py: 1136] +05/24 17:03:34 INFO: [Worker 0] Worker 0 house 450 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:03:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:03:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:03:45 INFO: [Worker 0] Worker 0 house 450 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:03:48 INFO: [Worker 0] Batching and saving trajectory data for house_450: 2 episodes [pipeline.py: 233] +05/24 17:03:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:03:50 INFO: [Worker 0] Preparing episode data: 48 timesteps [save_utils.py: 284] +05/24 17:03:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:03:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:03:52 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_450 [save_utils.py: 703] +05/24 17:03:52 INFO: [Worker 0] Successfully saved trajectory data for house_450 in 3.47s (batch: 3.36s, save: 0.11s) [pipeline.py: 280] +05/24 17:03:52 WARNING: [Worker 0] No trajectory data to save for house_450 [pipeline.py: 229] +05/24 17:03:52 INFO: [Worker 0] Worker 0 completed house 450: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:03:52 INFO: [Worker 0] Worker 0 starting house 452 (index 38/83) [pipeline.py: 473] +05/24 17:03:52 INFO: [Worker 0] Loaded 1 episodes for house 452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:03:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:03:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_452_ceiling.xml [task_sampler.py: 797] +05/24 17:03:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=452, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:03:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:03:59 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/24 17:03:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:03:59 INFO: [Worker 0] Sampled task 'Pick up the stainless steel kitchen ladle' [task_sampler.py: 1136] +05/24 17:03:59 INFO: [Worker 0] Worker 0 house 452 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:03:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:03:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:04:15 INFO: [Worker 0] Worker 0 house 452 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:04:18 INFO: [Worker 0] Batching and saving trajectory data for house_452: 1 episodes [pipeline.py: 233] +05/24 17:04:20 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/24 17:04:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:04:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_452 [save_utils.py: 703] +05/24 17:04:23 INFO: [Worker 0] Successfully saved trajectory data for house_452 in 2.20s (batch: 2.16s, save: 0.04s) [pipeline.py: 280] +05/24 17:04:23 WARNING: [Worker 0] No trajectory data to save for house_452 [pipeline.py: 229] +05/24 17:04:23 INFO: [Worker 0] Worker 0 completed house 452: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:04:23 INFO: [Worker 0] Worker 0 starting house 474 (index 39/83) [pipeline.py: 473] +05/24 17:04:23 INFO: [Worker 0] Loaded 2 episodes for house 474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:04:23 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] +05/24 17:04:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml [task_sampler.py: 797] +05/24 17:04:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:04:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:04:25 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/24 17:04:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:04:25 INFO: [Worker 0] Sampled task 'Pick up the cutting implement' [task_sampler.py: 1136] +05/24 17:04:25 INFO: [Worker 0] Worker 0 house 474 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:04:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:04:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:05:39 INFO: [Worker 0] Worker 0 house 474 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:05:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:05:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml [task_sampler.py: 797] +05/24 17:05:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:05:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:05:45 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/24 17:05:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:05:45 INFO: [Worker 0] Sampled task 'Pick up the matte dark teal rectangular box' [task_sampler.py: 1136] +05/24 17:05:45 INFO: [Worker 0] Worker 0 house 474 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:05:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:06:45 INFO: [Worker 0] Worker 0 house 474 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 17:06:48 INFO: [Worker 0] Batching and saving trajectory data for house_474: 2 episodes [pipeline.py: 233] +05/24 17:06:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:06:51 INFO: [Worker 0] Preparing episode data: 353 timesteps [save_utils.py: 284] +05/24 17:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:06:53 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_474 [save_utils.py: 703] +05/24 17:06:53 INFO: [Worker 0] Successfully saved trajectory data for house_474 in 4.90s (batch: 4.72s, save: 0.17s) [pipeline.py: 280] +05/24 17:06:54 WARNING: [Worker 0] No trajectory data to save for house_474 [pipeline.py: 229] +05/24 17:06:54 INFO: [Worker 0] Worker 0 completed house 474: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:06:54 INFO: [Worker 0] Worker 0 starting house 482 (index 40/83) [pipeline.py: 473] +05/24 17:06:54 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/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:06:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:06:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_482_ceiling.xml [task_sampler.py: 797] +05/24 17:06:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:06:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:06:59 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/24 17:06:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:06:59 INFO: [Worker 0] Sampled task 'Pick up the light gray wooden bowl' [task_sampler.py: 1136] +05/24 17:06:59 INFO: [Worker 0] Worker 0 house 482 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:06:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:07:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:07:20 INFO: [Worker 0] Worker 0 house 482 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_3_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:07:23 INFO: [Worker 0] Batching and saving trajectory data for house_482: 1 episodes [pipeline.py: 233] +05/24 17:07:23 INFO: [Worker 0] Preparing episode data: 105 timesteps [save_utils.py: 284] +05/24 17:07:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:07:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_482 [save_utils.py: 703] +05/24 17:07:25 INFO: [Worker 0] Successfully saved trajectory data for house_482 in 1.70s (batch: 1.66s, save: 0.04s) [pipeline.py: 280] +05/24 17:07:25 WARNING: [Worker 0] No trajectory data to save for house_482 [pipeline.py: 229] +05/24 17:07:25 INFO: [Worker 0] Worker 0 completed house 482: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:07:25 INFO: [Worker 0] Worker 0 starting house 497 (index 41/83) [pipeline.py: 473] +05/24 17:07:25 INFO: [Worker 0] Loaded 1 episodes for house 497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:07:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:07:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_497_ceiling.xml [task_sampler.py: 797] +05/24 17:07:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=497, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:07:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:07:29 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/24 17:07:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:07:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:07:29 INFO: [Worker 0] Sampled task 'Pick up the polished stainless steel fork with curve' [task_sampler.py: 1136] +05/24 17:07:29 INFO: [Worker 0] Worker 0 house 497 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:07:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:07:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:07:38 INFO: [Worker 0] Worker 0 house 497 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:07:42 INFO: [Worker 0] Batching and saving trajectory data for house_497: 1 episodes [pipeline.py: 233] +05/24 17:07:42 INFO: [Worker 0] Preparing episode data: 44 timesteps [save_utils.py: 284] +05/24 17:07:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:07:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_497 [save_utils.py: 703] +05/24 17:07:44 INFO: [Worker 0] Successfully saved trajectory data for house_497 in 2.28s (batch: 2.25s, save: 0.03s) [pipeline.py: 280] +05/24 17:07:44 WARNING: [Worker 0] No trajectory data to save for house_497 [pipeline.py: 229] +05/24 17:07:44 INFO: [Worker 0] Worker 0 completed house 497: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:07:44 INFO: [Worker 0] Worker 0 starting house 514 (index 42/83) [pipeline.py: 473] +05/24 17:07:44 INFO: [Worker 0] Loaded 1 episodes for house 514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:07:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:07:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_514_ceiling.xml [task_sampler.py: 797] +05/24 17:07:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=514, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:07:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:07:47 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 17:07:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:07:47 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 17:07:47 INFO: [Worker 0] Worker 0 house 514 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:07:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:07:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:08:59 INFO: [Worker 0] Worker 0 house 514 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 17:09:03 INFO: [Worker 0] Batching and saving trajectory data for house_514: 1 episodes [pipeline.py: 233] +05/24 17:09:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:09:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:09:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_514 [save_utils.py: 703] +05/24 17:09:05 INFO: [Worker 0] Successfully saved trajectory data for house_514 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/24 17:09:06 WARNING: [Worker 0] No trajectory data to save for house_514 [pipeline.py: 229] +05/24 17:09:06 INFO: [Worker 0] Worker 0 completed house 514: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:09:06 INFO: [Worker 0] Worker 0 starting house 515 (index 43/83) [pipeline.py: 473] +05/24 17:09:06 INFO: [Worker 0] Loaded 2 episodes for house 515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:09:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:09:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml [task_sampler.py: 797] +05/24 17:09:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:09:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:09:09 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:09:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:09:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:09:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:09:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:09:09 INFO: [Worker 0] Sampled task 'Pick up the spatula' [task_sampler.py: 1136] +05/24 17:09:09 INFO: [Worker 0] Worker 0 house 515 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:09:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:09:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:10:20 INFO: [Worker 0] Worker 0 house 515 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:10:23 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] +05/24 17:10:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml [task_sampler.py: 797] +05/24 17:10:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:10:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:10:26 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:10:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:10:26 INFO: [Worker 0] Sampled task 'Pick up the beige mug' [task_sampler.py: 1136] +05/24 17:10:26 INFO: [Worker 0] Worker 0 house 515 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:10:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:10:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:10:38 INFO: [Worker 0] Worker 0 house 515 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:10:41 INFO: [Worker 0] Batching and saving trajectory data for house_515: 2 episodes [pipeline.py: 233] +05/24 17:10:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:10:44 INFO: [Worker 0] Preparing episode data: 64 timesteps [save_utils.py: 284] +05/24 17:10:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:10:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:10:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_515 [save_utils.py: 703] +05/24 17:10:46 INFO: [Worker 0] Successfully saved trajectory data for house_515 in 4.67s (batch: 4.55s, save: 0.12s) [pipeline.py: 280] +05/24 17:10:47 WARNING: [Worker 0] No trajectory data to save for house_515 [pipeline.py: 229] +05/24 17:10:47 INFO: [Worker 0] Worker 0 completed house 515: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:10:47 INFO: [Worker 0] Worker 0 starting house 531 (index 44/83) [pipeline.py: 473] +05/24 17:10:47 INFO: [Worker 0] Loaded 1 episodes for house 531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:10:47 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] +05/24 17:10:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_531_ceiling.xml [task_sampler.py: 797] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=531, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 17:10:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:10:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:10:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:10:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:10:49 INFO: [Worker 0] Sampled task 'Pick up the smooth glossy red apple' [task_sampler.py: 1136] +05/24 17:10:49 INFO: [Worker 0] Worker 0 house 531 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:10:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:10:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:10:58 INFO: [Worker 0] Worker 0 house 531 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:11:00 INFO: [Worker 0] Batching and saving trajectory data for house_531: 1 episodes [pipeline.py: 233] +05/24 17:11:00 INFO: [Worker 0] Preparing episode data: 52 timesteps [save_utils.py: 284] +05/24 17:11:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:11:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_531 [save_utils.py: 703] +05/24 17:11:02 INFO: [Worker 0] Successfully saved trajectory data for house_531 in 1.64s (batch: 1.58s, save: 0.06s) [pipeline.py: 280] +05/24 17:11:02 WARNING: [Worker 0] No trajectory data to save for house_531 [pipeline.py: 229] +05/24 17:11:02 INFO: [Worker 0] Worker 0 completed house 531: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:11:02 INFO: [Worker 0] Worker 0 starting house 542 (index 45/83) [pipeline.py: 473] +05/24 17:11:02 INFO: [Worker 0] Loaded 2 episodes for house 542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:11:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:11:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml [task_sampler.py: 797] +05/24 17:11:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:11:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:11:05 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 17:11:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:11:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:11:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:11:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:11:05 INFO: [Worker 0] Sampled task 'Pick up the kettle' [task_sampler.py: 1136] +05/24 17:11:05 INFO: [Worker 0] Worker 0 house 542 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:11:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:11:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:11:21 INFO: [Worker 0] Worker 0 house 542 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:11:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:11:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml [task_sampler.py: 797] +05/24 17:11:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:11:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:11:27 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 17:11:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:11:27 INFO: [Worker 0] Sampled task 'Pick up the green ladle' [task_sampler.py: 1136] +05/24 17:11:27 INFO: [Worker 0] Worker 0 house 542 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:11:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:11:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:11:41 INFO: [Worker 0] Worker 0 house 542 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:11:44 INFO: [Worker 0] Batching and saving trajectory data for house_542: 2 episodes [pipeline.py: 233] +05/24 17:11:44 INFO: [Worker 0] Preparing episode data: 97 timesteps [save_utils.py: 284] +05/24 17:11:46 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 284] +05/24 17:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:11:48 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_542 [save_utils.py: 703] +05/24 17:11:48 INFO: [Worker 0] Successfully saved trajectory data for house_542 in 4.45s (batch: 4.38s, save: 0.06s) [pipeline.py: 280] +05/24 17:11:49 WARNING: [Worker 0] No trajectory data to save for house_542 [pipeline.py: 229] +05/24 17:11:49 INFO: [Worker 0] Worker 0 completed house 542: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:11:49 INFO: [Worker 0] Worker 0 starting house 555 (index 46/83) [pipeline.py: 473] +05/24 17:11:49 INFO: [Worker 0] Loaded 2 episodes for house 555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:11:49 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] +05/24 17:11:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml [task_sampler.py: 797] +05/24 17:11:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:11:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:11:52 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/24 17:11:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:11:52 INFO: [Worker 0] Sampled task 'Pick up the dark-handled spatula' [task_sampler.py: 1136] +05/24 17:11:52 INFO: [Worker 0] Worker 0 house 555 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:11:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:11:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:13:08 INFO: [Worker 0] Worker 0 house 555 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:13:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:13:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml [task_sampler.py: 797] +05/24 17:13:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:13:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:13:15 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/24 17:13:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:13:15 INFO: [Worker 0] Sampled task 'Pick up the polished stainless steel fork with curve' [task_sampler.py: 1136] +05/24 17:13:15 INFO: [Worker 0] Worker 0 house 555 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:13:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:13:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:13:39 INFO: [Worker 0] Worker 0 house 555 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:13:42 INFO: [Worker 0] Batching and saving trajectory data for house_555: 2 episodes [pipeline.py: 233] +05/24 17:13:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:13:44 INFO: [Worker 0] Preparing episode data: 143 timesteps [save_utils.py: 284] +05/24 17:13:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:13:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:13:45 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_555 [save_utils.py: 703] +05/24 17:13:45 INFO: [Worker 0] Successfully saved trajectory data for house_555 in 3.61s (batch: 3.49s, save: 0.12s) [pipeline.py: 280] +05/24 17:13:46 WARNING: [Worker 0] No trajectory data to save for house_555 [pipeline.py: 229] +05/24 17:13:46 INFO: [Worker 0] Worker 0 completed house 555: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:13:46 INFO: [Worker 0] Worker 0 starting house 560 (index 47/83) [pipeline.py: 473] +05/24 17:13:46 INFO: [Worker 0] Loaded 1 episodes for house 560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:13:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:13:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_560_ceiling.xml [task_sampler.py: 797] +05/24 17:13:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=560, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:13:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:13:47 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/24 17:13:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:13:47 INFO: [Worker 0] Sampled task 'Pick up the white mug' [task_sampler.py: 1136] +05/24 17:13:47 INFO: [Worker 0] Worker 0 house 560 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:13:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:13:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:13:54 INFO: [Worker 0] Worker 0 house 560 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:13:58 INFO: [Worker 0] Batching and saving trajectory data for house_560: 1 episodes [pipeline.py: 233] +05/24 17:13:58 INFO: [Worker 0] Preparing episode data: 44 timesteps [save_utils.py: 284] +05/24 17:14:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_560 [save_utils.py: 703] +05/24 17:14:00 INFO: [Worker 0] Successfully saved trajectory data for house_560 in 2.22s (batch: 2.19s, save: 0.03s) [pipeline.py: 280] +05/24 17:14:00 WARNING: [Worker 0] No trajectory data to save for house_560 [pipeline.py: 229] +05/24 17:14:00 INFO: [Worker 0] Worker 0 completed house 560: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:14:00 INFO: [Worker 0] Worker 0 starting house 577 (index 48/83) [pipeline.py: 473] +05/24 17:14:00 INFO: [Worker 0] Loaded 2 episodes for house 577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:14:00 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] +05/24 17:14:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml [task_sampler.py: 797] +05/24 17:14:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:14:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:14:03 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 17:14:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:14:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:14:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:14:03 INFO: [Worker 0] Sampled task 'Pick up the dark-handled spatula' [task_sampler.py: 1136] +05/24 17:14:03 INFO: [Worker 0] Worker 0 house 577 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:14:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:14:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:14:15 INFO: [Worker 0] Worker 0 house 577 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:14:18 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] +05/24 17:14:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml [task_sampler.py: 797] +05/24 17:14:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:14:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:14:20 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 17:14:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:14:20 INFO: [Worker 0] Sampled task 'Pick up the salt shaker' [task_sampler.py: 1136] +05/24 17:14:20 INFO: [Worker 0] Worker 0 house 577 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:14:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:14:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:14:28 INFO: [Worker 0] Worker 0 house 577 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:14:31 INFO: [Worker 0] Batching and saving trajectory data for house_577: 2 episodes [pipeline.py: 233] +05/24 17:14:31 INFO: [Worker 0] Preparing episode data: 76 timesteps [save_utils.py: 284] +05/24 17:14:32 INFO: [Worker 0] Preparing episode data: 48 timesteps [save_utils.py: 284] +05/24 17:14:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:34 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_577 [save_utils.py: 703] +05/24 17:14:34 INFO: [Worker 0] Successfully saved trajectory data for house_577 in 3.27s (batch: 3.21s, save: 0.05s) [pipeline.py: 280] +05/24 17:14:34 WARNING: [Worker 0] No trajectory data to save for house_577 [pipeline.py: 229] +05/24 17:14:34 INFO: [Worker 0] Worker 0 completed house 577: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:14:34 INFO: [Worker 0] Worker 0 starting house 581 (index 49/83) [pipeline.py: 473] +05/24 17:14:34 INFO: [Worker 0] Loaded 1 episodes for house 581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:14:34 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] +05/24 17:14:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_581_ceiling.xml [task_sampler.py: 797] +05/24 17:14:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=581, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:14:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:14:38 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:14:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:14:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:14:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:14:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:14:38 INFO: [Worker 0] Sampled task 'Pick up the dark smooth rounded cup' [task_sampler.py: 1136] +05/24 17:14:38 INFO: [Worker 0] Worker 0 house 581 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:14:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:14:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:16:00 INFO: [Worker 0] Worker 0 house 581 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:16:03 INFO: [Worker 0] Batching and saving trajectory data for house_581: 1 episodes [pipeline.py: 233] +05/24 17:16:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:16:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:16:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_581 [save_utils.py: 703] +05/24 17:16:06 INFO: [Worker 0] Successfully saved trajectory data for house_581 in 2.45s (batch: 2.34s, save: 0.11s) [pipeline.py: 280] +05/24 17:16:06 WARNING: [Worker 0] No trajectory data to save for house_581 [pipeline.py: 229] +05/24 17:16:06 INFO: [Worker 0] Worker 0 completed house 581: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:16:06 INFO: [Worker 0] Worker 0 starting house 602 (index 50/83) [pipeline.py: 473] +05/24 17:16:06 INFO: [Worker 0] Loaded 1 episodes for house 602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:16:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:16:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_602_ceiling.xml [task_sampler.py: 797] +05/24 17:16:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=602, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:16:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:16:12 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/24 17:16:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:16:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:16:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:16:12 INFO: [Worker 0] Sampled task 'Pick up the matte dark gray bowl' [task_sampler.py: 1136] +05/24 17:16:12 INFO: [Worker 0] Worker 0 house 602 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:16:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:16:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:16:25 INFO: [Worker 0] Worker 0 house 602 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:16:28 INFO: [Worker 0] Batching and saving trajectory data for house_602: 1 episodes [pipeline.py: 233] +05/24 17:16:28 INFO: [Worker 0] Preparing episode data: 64 timesteps [save_utils.py: 284] +05/24 17:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:16:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_602 [save_utils.py: 703] +05/24 17:16:30 INFO: [Worker 0] Successfully saved trajectory data for house_602 in 1.68s (batch: 1.65s, save: 0.03s) [pipeline.py: 280] +05/24 17:16:30 WARNING: [Worker 0] No trajectory data to save for house_602 [pipeline.py: 229] +05/24 17:16:30 INFO: [Worker 0] Worker 0 completed house 602: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:16:30 INFO: [Worker 0] Worker 0 starting house 610 (index 51/83) [pipeline.py: 473] +05/24 17:16:30 INFO: [Worker 0] Loaded 2 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:16:30 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] +05/24 17:16:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml [task_sampler.py: 797] +05/24 17:16:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:16:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:16:33 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/24 17:16:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:16:33 INFO: [Worker 0] Sampled task 'Pick up the golden pump soap bottle' [task_sampler.py: 1136] +05/24 17:16:33 INFO: [Worker 0] Worker 0 house 610 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:16:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:16:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:17:45 INFO: [Worker 0] Worker 0 house 610 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:17:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:17:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml [task_sampler.py: 797] +05/24 17:17:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:17:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:17:50 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/24 17:17:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:17:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:17:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:17:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:17:50 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 17:17:50 INFO: [Worker 0] Worker 0 house 610 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:17:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:17:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:18:59 INFO: [Worker 0] Worker 0 house 610 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:19:01 INFO: [Worker 0] Batching and saving trajectory data for house_610: 2 episodes [pipeline.py: 233] +05/24 17:19:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:19:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:19:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_610 [save_utils.py: 703] +05/24 17:19:05 INFO: [Worker 0] Successfully saved trajectory data for house_610 in 3.82s (batch: 3.64s, save: 0.18s) [pipeline.py: 280] +05/24 17:19:05 WARNING: [Worker 0] No trajectory data to save for house_610 [pipeline.py: 229] +05/24 17:19:05 INFO: [Worker 0] Worker 0 completed house 610: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:19:05 INFO: [Worker 0] Worker 0 starting house 622 (index 52/83) [pipeline.py: 473] +05/24 17:19:05 INFO: [Worker 0] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:19:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:19:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_622_ceiling.xml [task_sampler.py: 797] +05/24 17:19:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=622, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:19:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:19:10 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/24 17:19:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:19:10 INFO: [Worker 0] Sampled task 'Pick up the butterknife' [task_sampler.py: 1136] +05/24 17:19:10 INFO: [Worker 0] Worker 0 house 622 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:19:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:19:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:19:21 INFO: [Worker 0] Worker 0 house 622 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:19:23 INFO: [Worker 0] Batching and saving trajectory data for house_622: 1 episodes [pipeline.py: 233] +05/24 17:19:23 INFO: [Worker 0] Preparing episode data: 54 timesteps [save_utils.py: 284] +05/24 17:19:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_622 [save_utils.py: 703] +05/24 17:19:25 INFO: [Worker 0] Successfully saved trajectory data for house_622 in 1.67s (batch: 1.64s, save: 0.03s) [pipeline.py: 280] +05/24 17:19:26 WARNING: [Worker 0] No trajectory data to save for house_622 [pipeline.py: 229] +05/24 17:19:26 INFO: [Worker 0] Worker 0 completed house 622: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:19:26 INFO: [Worker 0] Worker 0 starting house 630 (index 53/83) [pipeline.py: 473] +05/24 17:19:26 INFO: [Worker 0] Loaded 2 episodes for house 630 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:19:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:19:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml [task_sampler.py: 797] +05/24 17:19:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:19:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:19:30 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:19:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:19:30 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 17:19:30 INFO: [Worker 0] Worker 0 house 630 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:19:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:19:51 INFO: [Worker 0] Worker 0 house 630 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:19:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:19:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml [task_sampler.py: 797] +05/24 17:19:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:19:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:19:59 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:19:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:19:59 INFO: [Worker 0] Sampled task 'Pick up the kitchen spatula' [task_sampler.py: 1136] +05/24 17:19:59 INFO: [Worker 0] Worker 0 house 630 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:19:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:20:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:21:21 INFO: [Worker 0] Worker 0 house 630 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:21:23 INFO: [Worker 0] Batching and saving trajectory data for house_630: 2 episodes [pipeline.py: 233] +05/24 17:21:23 INFO: [Worker 0] Preparing episode data: 99 timesteps [save_utils.py: 284] +05/24 17:21:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:21:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:21:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:21:27 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_630 [save_utils.py: 703] +05/24 17:21:27 INFO: [Worker 0] Successfully saved trajectory data for house_630 in 3.66s (batch: 3.52s, save: 0.13s) [pipeline.py: 280] +05/24 17:21:27 WARNING: [Worker 0] No trajectory data to save for house_630 [pipeline.py: 229] +05/24 17:21:27 INFO: [Worker 0] Worker 0 completed house 630: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:21:27 INFO: [Worker 0] Worker 0 starting house 644 (index 54/83) [pipeline.py: 473] +05/24 17:21:27 INFO: [Worker 0] Loaded 2 episodes for house 644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:21:27 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] +05/24 17:21:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml [task_sampler.py: 797] +05/24 17:21:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:21:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:21:31 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/24 17:21:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:21:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:21:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:21:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:21:31 INFO: [Worker 0] Sampled task 'Pick up the matte black ceramic mug with handle' [task_sampler.py: 1136] +05/24 17:21:31 INFO: [Worker 0] Worker 0 house 644 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:21:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:21:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:22:57 INFO: [Worker 0] Worker 0 house 644 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:22:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:23:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml [task_sampler.py: 797] +05/24 17:23:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:23:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:23:03 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/24 17:23:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:23:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:23:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:23:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:23:03 INFO: [Worker 0] Sampled task 'Pick up the yellow knife' [task_sampler.py: 1136] +05/24 17:23:03 INFO: [Worker 0] Worker 0 house 644 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:23:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:23:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:24:24 INFO: [Worker 0] Worker 0 house 644 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:24:27 INFO: [Worker 0] Batching and saving trajectory data for house_644: 2 episodes [pipeline.py: 233] +05/24 17:24:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:24:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:24:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:24:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:24:32 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/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_644 [save_utils.py: 703] +05/24 17:24:32 INFO: [Worker 0] Successfully saved trajectory data for house_644 in 4.76s (batch: 4.60s, save: 0.16s) [pipeline.py: 280] +05/24 17:24:33 WARNING: [Worker 0] No trajectory data to save for house_644 [pipeline.py: 229] +05/24 17:24:33 INFO: [Worker 0] Worker 0 completed house 644: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:24:33 INFO: [Worker 0] Worker 0 starting house 654 (index 55/83) [pipeline.py: 473] +05/24 17:24:33 INFO: [Worker 0] Loaded 1 episodes for house 654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:24:33 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] +05/24 17:24:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_654_ceiling.xml [task_sampler.py: 797] +05/24 17:24:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=654, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:24:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:24:36 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/24 17:24:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:24:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:24:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:24:36 INFO: [Worker 0] Sampled task 'Pick up the dark-handled kitchen spatula' [task_sampler.py: 1136] +05/24 17:24:36 INFO: [Worker 0] Worker 0 house 654 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:24:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:24:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:25:59 INFO: [Worker 0] Worker 0 house 654 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:26:02 INFO: [Worker 0] Batching and saving trajectory data for house_654: 1 episodes [pipeline.py: 233] +05/24 17:26:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:26:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:26:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_654 [save_utils.py: 703] +05/24 17:26:05 INFO: [Worker 0] Successfully saved trajectory data for house_654 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/24 17:26:05 WARNING: [Worker 0] No trajectory data to save for house_654 [pipeline.py: 229] +05/24 17:26:05 INFO: [Worker 0] Worker 0 completed house 654: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:26:05 INFO: [Worker 0] Worker 0 starting house 668 (index 56/83) [pipeline.py: 473] +05/24 17:26:05 INFO: [Worker 0] Loaded 1 episodes for house 668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:26:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:26:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_668_ceiling.xml [task_sampler.py: 797] +05/24 17:26:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=668, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:26:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:26:11 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/24 17:26:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:26:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:26:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:26:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:26:11 INFO: [Worker 0] Sampled task 'Pick up the black mug' [task_sampler.py: 1136] +05/24 17:26:11 INFO: [Worker 0] Worker 0 house 668 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:26:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:26:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:26:23 INFO: [Worker 0] Worker 0 house 668 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:26:26 INFO: [Worker 0] Batching and saving trajectory data for house_668: 1 episodes [pipeline.py: 233] +05/24 17:26:26 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 17:26:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:26:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_668 [save_utils.py: 703] +05/24 17:26:29 INFO: [Worker 0] Successfully saved trajectory data for house_668 in 2.23s (batch: 2.19s, save: 0.03s) [pipeline.py: 280] +05/24 17:26:29 WARNING: [Worker 0] No trajectory data to save for house_668 [pipeline.py: 229] +05/24 17:26:29 INFO: [Worker 0] Worker 0 completed house 668: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:26:29 INFO: [Worker 0] Worker 0 starting house 676 (index 57/83) [pipeline.py: 473] +05/24 17:26:29 INFO: [Worker 0] Loaded 2 episodes for house 676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:26:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:26:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml [task_sampler.py: 797] +05/24 17:26:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:26:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:26:34 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/24 17:26:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:26:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:26:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:26:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:26:34 INFO: [Worker 0] Sampled task 'Pick up the silver kettle' [task_sampler.py: 1136] +05/24 17:26:34 INFO: [Worker 0] Worker 0 house 676 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:26:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:28:02 INFO: [Worker 0] Worker 0 house 676 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:28:04 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] +05/24 17:28:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml [task_sampler.py: 797] +05/24 17:28:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:28:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:28:09 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/24 17:28:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:28:09 INFO: [Worker 0] Sampled task 'Pick up the red tomato' [task_sampler.py: 1136] +05/24 17:28:09 INFO: [Worker 0] Worker 0 house 676 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:28:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:29:37 INFO: [Worker 0] Worker 0 house 676 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:29:41 INFO: [Worker 0] Batching and saving trajectory data for house_676: 2 episodes [pipeline.py: 233] +05/24 17:29:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:29:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:29:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:29:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:29:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_676 [save_utils.py: 703] +05/24 17:29:46 INFO: [Worker 0] Successfully saved trajectory data for house_676 in 5.00s (batch: 4.82s, save: 0.17s) [pipeline.py: 280] +05/24 17:29:47 WARNING: [Worker 0] No trajectory data to save for house_676 [pipeline.py: 229] +05/24 17:29:47 INFO: [Worker 0] Worker 0 completed house 676: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:29:47 INFO: [Worker 0] Worker 0 starting house 692 (index 58/83) [pipeline.py: 473] +05/24 17:29:47 INFO: [Worker 0] Loaded 1 episodes for house 692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:29:47 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] +05/24 17:29:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_692_ceiling.xml [task_sampler.py: 797] +05/24 17:29:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=692, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:29:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:29:53 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/24 17:29:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:29:53 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 17:29:53 INFO: [Worker 0] Worker 0 house 692 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:29:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:30:14 INFO: [Worker 0] Worker 0 house 692 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 17:30:17 INFO: [Worker 0] Batching and saving trajectory data for house_692: 1 episodes [pipeline.py: 233] +05/24 17:30:18 INFO: [Worker 0] Preparing episode data: 96 timesteps [save_utils.py: 284] +05/24 17:30:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:30:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_692 [save_utils.py: 703] +05/24 17:30:20 INFO: [Worker 0] Successfully saved trajectory data for house_692 in 2.19s (batch: 2.15s, save: 0.04s) [pipeline.py: 280] +05/24 17:30:21 WARNING: [Worker 0] No trajectory data to save for house_692 [pipeline.py: 229] +05/24 17:30:21 INFO: [Worker 0] Worker 0 completed house 692: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:30:21 INFO: [Worker 0] Worker 0 starting house 711 (index 59/83) [pipeline.py: 473] +05/24 17:30:21 INFO: [Worker 0] Loaded 1 episodes for house 711 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:30:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:30:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_711_ceiling.xml [task_sampler.py: 797] +05/24 17:30:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=711, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:30:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:30:27 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/24 17:30:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:30:27 INFO: [Worker 0] Sampled task 'Pick up the teal box' [task_sampler.py: 1136] +05/24 17:30:27 INFO: [Worker 0] Worker 0 house 711 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:30:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:31:55 INFO: [Worker 0] Worker 0 house 711 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:31:57 INFO: [Worker 0] Batching and saving trajectory data for house_711: 1 episodes [pipeline.py: 233] +05/24 17:31:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:31:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_711 [save_utils.py: 703] +05/24 17:31:59 INFO: [Worker 0] Successfully saved trajectory data for house_711 in 1.89s (batch: 1.79s, save: 0.09s) [pipeline.py: 280] +05/24 17:32:00 WARNING: [Worker 0] No trajectory data to save for house_711 [pipeline.py: 229] +05/24 17:32:00 INFO: [Worker 0] Worker 0 completed house 711: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:32:00 INFO: [Worker 0] Worker 0 starting house 726 (index 60/83) [pipeline.py: 473] +05/24 17:32:00 INFO: [Worker 0] Loaded 1 episodes for house 726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:32:00 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] +05/24 17:32:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_726_ceiling.xml [task_sampler.py: 797] +05/24 17:32:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=726, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:32:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:32:03 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 17:32:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:32:03 INFO: [Worker 0] Sampled task 'Pick up the matte black ceramic mug with handle' [task_sampler.py: 1136] +05/24 17:32:03 INFO: [Worker 0] Worker 0 house 726 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:32:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:32:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:33:23 INFO: [Worker 0] Worker 0 house 726 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:33:26 INFO: [Worker 0] Batching and saving trajectory data for house_726: 1 episodes [pipeline.py: 233] +05/24 17:33:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:33:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:33:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_726 [save_utils.py: 703] +05/24 17:33:29 INFO: [Worker 0] Successfully saved trajectory data for house_726 in 2.48s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/24 17:33:29 WARNING: [Worker 0] No trajectory data to save for house_726 [pipeline.py: 229] +05/24 17:33:29 INFO: [Worker 0] Worker 0 completed house 726: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:33:29 INFO: [Worker 0] Worker 0 starting house 727 (index 61/83) [pipeline.py: 473] +05/24 17:33:29 INFO: [Worker 0] Loaded 2 episodes for house 727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:33:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:33:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml [task_sampler.py: 797] +05/24 17:33:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:33:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:33:32 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/24 17:33:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:33:32 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 17:33:32 INFO: [Worker 0] Worker 0 house 727 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:33:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:33:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:33:38 INFO: [Worker 0] Worker 0 house 727 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:33:41 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] +05/24 17:33:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml [task_sampler.py: 797] +05/24 17:33:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:33:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:33:43 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/24 17:33:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:33:43 INFO: [Worker 0] Sampled task 'Pick up the transparent glass salt shaker' [task_sampler.py: 1136] +05/24 17:33:43 INFO: [Worker 0] Worker 0 house 727 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:33:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:33:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:34:48 INFO: [Worker 0] Worker 0 house 727 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:34:52 INFO: [Worker 0] Batching and saving trajectory data for house_727: 2 episodes [pipeline.py: 233] +05/24 17:34:52 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/24 17:34:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:34:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:34:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:34:57 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_727 [save_utils.py: 703] +05/24 17:34:57 INFO: [Worker 0] Successfully saved trajectory data for house_727 in 4.71s (batch: 4.61s, save: 0.11s) [pipeline.py: 280] +05/24 17:34:57 WARNING: [Worker 0] No trajectory data to save for house_727 [pipeline.py: 229] +05/24 17:34:57 INFO: [Worker 0] Worker 0 completed house 727: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:34:57 INFO: [Worker 0] Worker 0 starting house 746 (index 62/83) [pipeline.py: 473] +05/24 17:34:57 INFO: [Worker 0] Loaded 2 episodes for house 746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:34:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:34:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml [task_sampler.py: 797] +05/24 17:34:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:34:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:34:59 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 17:34:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:34:59 INFO: [Worker 0] Sampled task 'Pick up the cutlery' [task_sampler.py: 1136] +05/24 17:34:59 INFO: [Worker 0] Worker 0 house 746 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:34:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:35:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:35:08 INFO: [Worker 0] Worker 0 house 746 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:35:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:35:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml [task_sampler.py: 797] +05/24 17:35:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:35:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:35:13 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 17:35:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:35:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:35:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:35:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:35:13 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle' [task_sampler.py: 1136] +05/24 17:35:13 INFO: [Worker 0] Worker 0 house 746 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:35:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:35:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:35:37 INFO: [Worker 0] Worker 0 house 746 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:35:39 INFO: [Worker 0] Batching and saving trajectory data for house_746: 2 episodes [pipeline.py: 233] +05/24 17:35:39 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 17:35:41 INFO: [Worker 0] Preparing episode data: 153 timesteps [save_utils.py: 284] +05/24 17:35:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:35:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:35:44 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_746 [save_utils.py: 703] +05/24 17:35:44 INFO: [Worker 0] Successfully saved trajectory data for house_746 in 4.32s (batch: 4.25s, save: 0.07s) [pipeline.py: 280] +05/24 17:35:44 WARNING: [Worker 0] No trajectory data to save for house_746 [pipeline.py: 229] +05/24 17:35:44 INFO: [Worker 0] Worker 0 completed house 746: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:35:44 INFO: [Worker 0] Worker 0 starting house 752 (index 63/83) [pipeline.py: 473] +05/24 17:35:44 INFO: [Worker 0] Loaded 1 episodes for house 752 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:35:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:35:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_752_ceiling.xml [task_sampler.py: 797] +05/24 17:35:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=752, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:35:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:35:48 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:35:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:35:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:35:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:35:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:35:48 INFO: [Worker 0] Sampled task 'Pick up the dark smooth rounded matte cup' [task_sampler.py: 1136] +05/24 17:35:48 INFO: [Worker 0] Worker 0 house 752 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:35:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:35:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:35:52 INFO: [Worker 0] Worker 0 house 752 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:35:55 INFO: [Worker 0] Batching and saving trajectory data for house_752: 1 episodes [pipeline.py: 233] +05/24 17:35:55 INFO: [Worker 0] Preparing episode data: 25 timesteps [save_utils.py: 284] +05/24 17:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:35:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_752 [save_utils.py: 703] +05/24 17:35:57 INFO: [Worker 0] Successfully saved trajectory data for house_752 in 1.64s (batch: 1.62s, save: 0.02s) [pipeline.py: 280] +05/24 17:35:57 WARNING: [Worker 0] No trajectory data to save for house_752 [pipeline.py: 229] +05/24 17:35:57 INFO: [Worker 0] Worker 0 completed house 752: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:35:57 INFO: [Worker 0] Worker 0 starting house 771 (index 64/83) [pipeline.py: 473] +05/24 17:35:57 INFO: [Worker 0] Loaded 1 episodes for house 771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:35:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:35:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_771_ceiling.xml [task_sampler.py: 797] +05/24 17:35:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=771, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:35:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:35:59 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 17:35:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:35:59 INFO: [Worker 0] Sampled task 'Pick up the blue cooking pot with handles' [task_sampler.py: 1136] +05/24 17:35:59 INFO: [Worker 0] Worker 0 house 771 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:35:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:36:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:37:13 INFO: [Worker 0] Worker 0 house 771 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:37:16 INFO: [Worker 0] Batching and saving trajectory data for house_771: 1 episodes [pipeline.py: 233] +05/24 17:37:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:37:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:37:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_771 [save_utils.py: 703] +05/24 17:37:19 INFO: [Worker 0] Successfully saved trajectory data for house_771 in 2.40s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/24 17:37:19 WARNING: [Worker 0] No trajectory data to save for house_771 [pipeline.py: 229] +05/24 17:37:19 INFO: [Worker 0] Worker 0 completed house 771: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:37:19 INFO: [Worker 0] Worker 0 starting house 774 (index 65/83) [pipeline.py: 473] +05/24 17:37:19 INFO: [Worker 0] Loaded 2 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:37:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:37:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml [task_sampler.py: 797] +05/24 17:37:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:37:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:37:22 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 17:37:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:37:22 INFO: [Worker 0] Sampled task 'Pick up the shiny silver kettle' [task_sampler.py: 1136] +05/24 17:37:22 INFO: [Worker 0] Worker 0 house 774 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:37:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:37:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:38:38 INFO: [Worker 0] Worker 0 house 774 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:38:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:38:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml [task_sampler.py: 797] +05/24 17:38:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:38:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:38:43 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 17:38:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:38:43 INFO: [Worker 0] Sampled task 'Pick up the glass shaker' [task_sampler.py: 1136] +05/24 17:38:43 INFO: [Worker 0] Worker 0 house 774 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:38:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:38:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:39:58 INFO: [Worker 0] Worker 0 house 774 episode 1 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:40:00 INFO: [Worker 0] Batching and saving trajectory data for house_774: 2 episodes [pipeline.py: 233] +05/24 17:40:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:40:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:40:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:40:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:40:04 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_774 [save_utils.py: 703] +05/24 17:40:04 INFO: [Worker 0] Successfully saved trajectory data for house_774 in 3.80s (batch: 3.63s, save: 0.16s) [pipeline.py: 280] +05/24 17:40:05 WARNING: [Worker 0] No trajectory data to save for house_774 [pipeline.py: 229] +05/24 17:40:05 INFO: [Worker 0] Worker 0 completed house 774: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:40:05 INFO: [Worker 0] Worker 0 starting house 795 (index 66/83) [pipeline.py: 473] +05/24 17:40:05 INFO: [Worker 0] Loaded 1 episodes for house 795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:40:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:40:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_795_ceiling.xml [task_sampler.py: 797] +05/24 17:40:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=795, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:40:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:40:11 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/24 17:40:11 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/24 17:40:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:40:11 INFO: [Worker 0] Sampled task 'Pick up the light brown box' [task_sampler.py: 1136] +05/24 17:40:11 INFO: [Worker 0] Worker 0 house 795 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:40:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:41:46 INFO: [Worker 0] Worker 0 house 795 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 17:41:49 INFO: [Worker 0] Batching and saving trajectory data for house_795: 1 episodes [pipeline.py: 233] +05/24 17:41:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:41:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_795 [save_utils.py: 703] +05/24 17:41:51 INFO: [Worker 0] Successfully saved trajectory data for house_795 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/24 17:41:52 WARNING: [Worker 0] No trajectory data to save for house_795 [pipeline.py: 229] +05/24 17:41:52 INFO: [Worker 0] Worker 0 completed house 795: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:41:52 INFO: [Worker 0] Worker 0 starting house 809 (index 67/83) [pipeline.py: 473] +05/24 17:41:52 INFO: [Worker 0] Loaded 2 episodes for house 809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:41:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:41:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml [task_sampler.py: 797] +05/24 17:41:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:41:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:41:55 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:41:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:41:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:41:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:41:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:41:55 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 17:41:55 INFO: [Worker 0] Worker 0 house 809 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:41:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:41:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:42:28 INFO: [Worker 0] Worker 0 house 809 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 17:42:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:42:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml [task_sampler.py: 797] +05/24 17:42:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:42:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:42:35 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:42:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:42:35 INFO: [Worker 0] Sampled task 'Pick up the dark-handled spatula' [task_sampler.py: 1136] +05/24 17:42:35 INFO: [Worker 0] Worker 0 house 809 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:42:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:42:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:43:57 INFO: [Worker 0] Worker 0 house 809 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:44:01 INFO: [Worker 0] Batching and saving trajectory data for house_809: 2 episodes [pipeline.py: 233] +05/24 17:44:01 INFO: [Worker 0] Preparing episode data: 170 timesteps [save_utils.py: 284] +05/24 17:44:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:44:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:44:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:44:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_809 [save_utils.py: 703] +05/24 17:44:05 INFO: [Worker 0] Successfully saved trajectory data for house_809 in 4.80s (batch: 4.66s, save: 0.14s) [pipeline.py: 280] +05/24 17:44:06 WARNING: [Worker 0] No trajectory data to save for house_809 [pipeline.py: 229] +05/24 17:44:06 INFO: [Worker 0] Worker 0 completed house 809: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:44:06 INFO: [Worker 0] Worker 0 starting house 828 (index 68/83) [pipeline.py: 473] +05/24 17:44:06 INFO: [Worker 0] Loaded 1 episodes for house 828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:44:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:44:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_828_ceiling.xml [task_sampler.py: 797] +05/24 17:44:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=828, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:08 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 17:44:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:08 INFO: [Worker 0] Sampled task 'Pick up the shiny silver metallic kettle' [task_sampler.py: 1136] +05/24 17:44:08 INFO: [Worker 0] Worker 0 house 828 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:44:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:19 INFO: [Worker 0] Worker 0 house 828 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:44:22 INFO: [Worker 0] Batching and saving trajectory data for house_828: 1 episodes [pipeline.py: 233] +05/24 17:44:22 INFO: [Worker 0] Preparing episode data: 73 timesteps [save_utils.py: 284] +05/24 17:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:44:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_828 [save_utils.py: 703] +05/24 17:44:24 INFO: [Worker 0] Successfully saved trajectory data for house_828 in 2.21s (batch: 2.16s, save: 0.05s) [pipeline.py: 280] +05/24 17:44:25 WARNING: [Worker 0] No trajectory data to save for house_828 [pipeline.py: 229] +05/24 17:44:25 INFO: [Worker 0] Worker 0 completed house 828: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:44:25 INFO: [Worker 0] Worker 0 starting house 834 (index 69/83) [pipeline.py: 473] +05/24 17:44:25 INFO: [Worker 0] Loaded 2 episodes for house 834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:44:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:44:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml [task_sampler.py: 797] +05/24 17:44:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:27 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:44:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:27 INFO: [Worker 0] Sampled task 'Pick up the dark metallic cooking pot' [task_sampler.py: 1136] +05/24 17:44:27 INFO: [Worker 0] Worker 0 house 834 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:44:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:44:37 INFO: [Worker 0] Worker 0 house 834 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:44:39 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] +05/24 17:44:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml [task_sampler.py: 797] +05/24 17:44:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:42 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:44:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:42 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 17:44:42 INFO: [Worker 0] Worker 0 house 834 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:44:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:45:49 INFO: [Worker 0] Worker 0 house 834 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:45:52 INFO: [Worker 0] Batching and saving trajectory data for house_834: 2 episodes [pipeline.py: 233] +05/24 17:45:52 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 17:45:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:45:57 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_834 [save_utils.py: 703] +05/24 17:45:57 INFO: [Worker 0] Successfully saved trajectory data for house_834 in 4.80s (batch: 4.69s, save: 0.11s) [pipeline.py: 280] +05/24 17:45:58 WARNING: [Worker 0] No trajectory data to save for house_834 [pipeline.py: 229] +05/24 17:45:58 INFO: [Worker 0] Worker 0 completed house 834: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:45:58 INFO: [Worker 0] Worker 0 starting house 848 (index 70/83) [pipeline.py: 473] +05/24 17:45:58 INFO: [Worker 0] Loaded 2 episodes for house 848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:45:58 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] +05/24 17:46:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml [task_sampler.py: 797] +05/24 17:46:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:46:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:46:06 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/24 17:46:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:46:06 INFO: [Worker 0] Sampled task 'Pick up the clear tapered cylindrical cup' [task_sampler.py: 1136] +05/24 17:46:06 INFO: [Worker 0] Worker 0 house 848 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:46:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:46:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:46:45 INFO: [Worker 0] Worker 0 house 848 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:46:49 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] +05/24 17:46:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml [task_sampler.py: 797] +05/24 17:46:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:46:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:46:57 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/24 17:46:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:46:57 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 17:46:57 INFO: [Worker 0] Worker 0 house 848 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:46:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:46:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:48:38 INFO: [Worker 0] Worker 0 house 848 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:48:40 INFO: [Worker 0] Batching and saving trajectory data for house_848: 2 episodes [pipeline.py: 233] +05/24 17:48:40 INFO: [Worker 0] Preparing episode data: 176 timesteps [save_utils.py: 284] +05/24 17:48:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:48:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:48:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:48:44 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_848 [save_utils.py: 703] +05/24 17:48:44 INFO: [Worker 0] Successfully saved trajectory data for house_848 in 3.61s (batch: 3.48s, save: 0.13s) [pipeline.py: 280] +05/24 17:48:44 WARNING: [Worker 0] No trajectory data to save for house_848 [pipeline.py: 229] +05/24 17:48:44 INFO: [Worker 0] Worker 0 completed house 848: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:48:44 INFO: [Worker 0] Worker 0 starting house 863 (index 71/83) [pipeline.py: 473] +05/24 17:48:44 INFO: [Worker 0] Loaded 1 episodes for house 863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:48:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:48:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_863_ceiling.xml [task_sampler.py: 797] +05/24 17:48:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=863, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:48:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:48:46 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/24 17:48:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:48:46 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 17:48:46 INFO: [Worker 0] Worker 0 house 863 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:48:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:48:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:49:01 INFO: [Worker 0] Worker 0 house 863 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:49:04 INFO: [Worker 0] Batching and saving trajectory data for house_863: 1 episodes [pipeline.py: 233] +05/24 17:49:04 INFO: [Worker 0] Preparing episode data: 83 timesteps [save_utils.py: 284] +05/24 17:49:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:49:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_863 [save_utils.py: 703] +05/24 17:49:06 INFO: [Worker 0] Successfully saved trajectory data for house_863 in 2.26s (batch: 2.23s, save: 0.03s) [pipeline.py: 280] +05/24 17:49:07 WARNING: [Worker 0] No trajectory data to save for house_863 [pipeline.py: 229] +05/24 17:49:07 INFO: [Worker 0] Worker 0 completed house 863: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:49:07 INFO: [Worker 0] Worker 0 starting house 874 (index 72/83) [pipeline.py: 473] +05/24 17:49:07 INFO: [Worker 0] Loaded 2 episodes for house 874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:49:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:49:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml [task_sampler.py: 797] +05/24 17:49:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:49:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:49:09 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/24 17:49:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:49:09 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 17:49:09 INFO: [Worker 0] Worker 0 house 874 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:49:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:49:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:50:22 INFO: [Worker 0] Worker 0 house 874 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 17:50:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:50:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml [task_sampler.py: 797] +05/24 17:50:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:50:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:50:28 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/24 17:50:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:50:28 INFO: [Worker 0] Sampled task 'Pick up the black plastic remote' [task_sampler.py: 1136] +05/24 17:50:28 INFO: [Worker 0] Worker 0 house 874 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:50:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:50:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:51:36 INFO: [Worker 0] Worker 0 house 874 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_3 completed with success=False [pipeline.py: 1114] +05/24 17:51:39 INFO: [Worker 0] Batching and saving trajectory data for house_874: 2 episodes [pipeline.py: 233] +05/24 17:51:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:51:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:51:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:51:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:51:43 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_874 [save_utils.py: 703] +05/24 17:51:43 INFO: [Worker 0] Successfully saved trajectory data for house_874 in 3.95s (batch: 3.77s, save: 0.19s) [pipeline.py: 280] +05/24 17:51:43 WARNING: [Worker 0] No trajectory data to save for house_874 [pipeline.py: 229] +05/24 17:51:43 INFO: [Worker 0] Worker 0 completed house 874: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:51:43 INFO: [Worker 0] Worker 0 starting house 889 (index 73/83) [pipeline.py: 473] +05/24 17:51:43 INFO: [Worker 0] Loaded 2 episodes for house 889 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:51:43 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] +05/24 17:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml [task_sampler.py: 797] +05/24 17:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/24 17:51:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:51:47 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 17:51:47 INFO: [Worker 0] Worker 0 house 889 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:51:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:53:14 INFO: [Worker 0] Worker 0 house 889 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_7 completed with success=False [pipeline.py: 1114] +05/24 17:53:18 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] +05/24 17:53:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml [task_sampler.py: 797] +05/24 17:53:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:53:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:53:22 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/24 17:53:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:53:22 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 17:53:22 INFO: [Worker 0] Worker 0 house 889 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:53:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:53:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:54:47 INFO: [Worker 0] Worker 0 house 889 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:54:50 INFO: [Worker 0] Batching and saving trajectory data for house_889: 2 episodes [pipeline.py: 233] +05/24 17:54:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:54:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:54:56 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_889 [save_utils.py: 703] +05/24 17:54:56 INFO: [Worker 0] Successfully saved trajectory data for house_889 in 4.96s (batch: 4.79s, save: 0.17s) [pipeline.py: 280] +05/24 17:54:56 WARNING: [Worker 0] No trajectory data to save for house_889 [pipeline.py: 229] +05/24 17:54:56 INFO: [Worker 0] Worker 0 completed house 889: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:54:56 INFO: [Worker 0] Worker 0 starting house 901 (index 74/83) [pipeline.py: 473] +05/24 17:54:56 INFO: [Worker 0] Loaded 1 episodes for house 901 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:54:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:55:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_901_ceiling.xml [task_sampler.py: 797] +05/24 17:55:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=901, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:55:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:55:01 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/24 17:55:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:55:01 INFO: [Worker 0] Sampled task 'Pick up the matte dark teal rectangular box' [task_sampler.py: 1136] +05/24 17:55:01 INFO: [Worker 0] Worker 0 house 901 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:55:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:55:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:56:22 INFO: [Worker 0] Worker 0 house 901 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:56:25 INFO: [Worker 0] Batching and saving trajectory data for house_901: 1 episodes [pipeline.py: 233] +05/24 17:56:25 INFO: [Worker 0] Preparing episode data: 378 timesteps [save_utils.py: 284] +05/24 17:56:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:56:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_901 [save_utils.py: 703] +05/24 17:56:28 INFO: [Worker 0] Successfully saved trajectory data for house_901 in 2.48s (batch: 2.38s, save: 0.10s) [pipeline.py: 280] +05/24 17:56:28 WARNING: [Worker 0] No trajectory data to save for house_901 [pipeline.py: 229] +05/24 17:56:28 INFO: [Worker 0] Worker 0 completed house 901: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:56:28 INFO: [Worker 0] Worker 0 starting house 902 (index 75/83) [pipeline.py: 473] +05/24 17:56:28 INFO: [Worker 0] Loaded 2 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:56:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:56:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml [task_sampler.py: 797] +05/24 17:56:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:56:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:56:30 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 17:56:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:56:30 INFO: [Worker 0] Sampled task 'Pick up the matte dark teal box' [task_sampler.py: 1136] +05/24 17:56:30 INFO: [Worker 0] Worker 0 house 902 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:56:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:56:37 INFO: [Worker 0] Worker 0 house 902 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:56:39 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] +05/24 17:56:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml [task_sampler.py: 797] +05/24 17:56:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:56:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:56:42 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 17:56:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:56:42 INFO: [Worker 0] Sampled task 'Pick up the orange conical spray bottle' [task_sampler.py: 1136] +05/24 17:56:42 INFO: [Worker 0] Worker 0 house 902 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:56:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:56:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:57:05 INFO: [Worker 0] Worker 0 house 902 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:57:07 INFO: [Worker 0] Batching and saving trajectory data for house_902: 2 episodes [pipeline.py: 233] +05/24 17:57:07 INFO: [Worker 0] Preparing episode data: 39 timesteps [save_utils.py: 284] +05/24 17:57:09 INFO: [Worker 0] Preparing episode data: 145 timesteps [save_utils.py: 284] +05/24 17:57:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:57:11 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902 [save_utils.py: 703] +05/24 17:57:11 INFO: [Worker 0] Successfully saved trajectory data for house_902 in 3.35s (batch: 3.28s, save: 0.07s) [pipeline.py: 280] +05/24 17:57:11 WARNING: [Worker 0] No trajectory data to save for house_902 [pipeline.py: 229] +05/24 17:57:11 INFO: [Worker 0] Worker 0 completed house 902: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:57:11 INFO: [Worker 0] Worker 0 starting house 925 (index 76/83) [pipeline.py: 473] +05/24 17:57:11 INFO: [Worker 0] Loaded 1 episodes for house 925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:57:11 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] +05/24 17:57:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_925_ceiling.xml [task_sampler.py: 797] +05/24 17:57:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=925, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:57:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:57:15 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/24 17:57:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:57:15 INFO: [Worker 0] Sampled task 'Pick up the saltshaker' [task_sampler.py: 1136] +05/24 17:57:15 INFO: [Worker 0] Worker 0 house 925 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:57:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:57:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:57:22 INFO: [Worker 0] Worker 0 house 925 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:57:25 INFO: [Worker 0] Batching and saving trajectory data for house_925: 1 episodes [pipeline.py: 233] +05/24 17:57:25 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/24 17:57:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:57:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_925 [save_utils.py: 703] +05/24 17:57:28 INFO: [Worker 0] Successfully saved trajectory data for house_925 in 2.16s (batch: 2.13s, save: 0.03s) [pipeline.py: 280] +05/24 17:57:28 WARNING: [Worker 0] No trajectory data to save for house_925 [pipeline.py: 229] +05/24 17:57:28 INFO: [Worker 0] Worker 0 completed house 925: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:57:28 INFO: [Worker 0] Worker 0 starting house 926 (index 77/83) [pipeline.py: 473] +05/24 17:57:28 INFO: [Worker 0] Loaded 2 episodes for house 926 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:57:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:57:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml [task_sampler.py: 797] +05/24 17:57:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:57:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:57:30 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/24 17:57:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:57:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:57:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:57:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:57:30 INFO: [Worker 0] Sampled task 'Pick up the glossy beige ceramic mug with handle' [task_sampler.py: 1136] +05/24 17:57:30 INFO: [Worker 0] Worker 0 house 926 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:57:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:57:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:57:42 INFO: [Worker 0] Worker 0 house 926 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:57:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:57:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml [task_sampler.py: 797] +05/24 17:57:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:57:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:57:47 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/24 17:57:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:57:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:57:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:57:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:57:47 INFO: [Worker 0] Sampled task 'Pick up the green ladle' [task_sampler.py: 1136] +05/24 17:57:47 INFO: [Worker 0] Worker 0 house 926 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:57:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:57:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:57:57 INFO: [Worker 0] Worker 0 house 926 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:58:00 INFO: [Worker 0] Batching and saving trajectory data for house_926: 2 episodes [pipeline.py: 233] +05/24 17:58:00 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 284] +05/24 17:58:02 INFO: [Worker 0] Preparing episode data: 72 timesteps [save_utils.py: 284] +05/24 17:58:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:58:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:58:03 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926 [save_utils.py: 703] +05/24 17:58:03 INFO: [Worker 0] Successfully saved trajectory data for house_926 in 3.32s (batch: 3.27s, save: 0.06s) [pipeline.py: 280] +05/24 17:58:04 WARNING: [Worker 0] No trajectory data to save for house_926 [pipeline.py: 229] +05/24 17:58:04 INFO: [Worker 0] Worker 0 completed house 926: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:58:04 INFO: [Worker 0] Worker 0 starting house 945 (index 78/83) [pipeline.py: 473] +05/24 17:58:04 INFO: [Worker 0] Loaded 1 episodes for house 945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:58:04 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] +05/24 17:58:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_945_ceiling.xml [task_sampler.py: 797] +05/24 17:58:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=945, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:58:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:58:08 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/24 17:58:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:58:08 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 17:58:08 INFO: [Worker 0] Worker 0 house 945 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 17:58:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:58:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:58:26 INFO: [Worker 0] Worker 0 house 945 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:58:29 INFO: [Worker 0] Batching and saving trajectory data for house_945: 1 episodes [pipeline.py: 233] +05/24 17:58:29 INFO: [Worker 0] Preparing episode data: 96 timesteps [save_utils.py: 284] +05/24 17:58:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:58:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_945 [save_utils.py: 703] +05/24 17:58:31 INFO: [Worker 0] Successfully saved trajectory data for house_945 in 2.19s (batch: 2.15s, save: 0.05s) [pipeline.py: 280] +05/24 17:58:31 WARNING: [Worker 0] No trajectory data to save for house_945 [pipeline.py: 229] +05/24 17:58:31 INFO: [Worker 0] Worker 0 completed house 945: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:58:31 INFO: [Worker 0] Worker 0 starting house 952 (index 79/83) [pipeline.py: 473] +05/24 17:58:31 INFO: [Worker 0] Loaded 2 episodes for house 952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 17:58:32 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] +05/24 17:58:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml [task_sampler.py: 797] +05/24 17:58:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:58:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:58:34 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:58:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:58:34 INFO: [Worker 0] Sampled task 'Pick up the silver kettle' [task_sampler.py: 1136] +05/24 17:58:34 INFO: [Worker 0] Worker 0 house 952 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 17:58:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:58:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:58:47 INFO: [Worker 0] Worker 0 house 952 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:58:49 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] +05/24 17:58:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml [task_sampler.py: 797] +05/24 17:58:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:58:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:58:52 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:58:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:58:52 INFO: [Worker 0] Sampled task 'Pick up the silver kettle' [task_sampler.py: 1136] +05/24 17:58:52 INFO: [Worker 0] Worker 0 house 952 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 17:58:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:58:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 18:00:05 INFO: [Worker 0] Worker 0 house 952 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False [pipeline.py: 1114] +05/24 18:00:08 INFO: [Worker 0] Batching and saving trajectory data for house_952: 2 episodes [pipeline.py: 233] +05/24 18:00:08 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 284] +05/24 18:00:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 18:00:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:00:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:00:12 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952 [save_utils.py: 703] +05/24 18:00:12 INFO: [Worker 0] Successfully saved trajectory data for house_952 in 3.59s (batch: 3.48s, save: 0.11s) [pipeline.py: 280] +05/24 18:00:12 WARNING: [Worker 0] No trajectory data to save for house_952 [pipeline.py: 229] +05/24 18:00:12 INFO: [Worker 0] Worker 0 completed house 952: 1/2 successful episodes [pipeline.py: 1243] +05/24 18:00:12 INFO: [Worker 0] Worker 0 starting house 966 (index 80/83) [pipeline.py: 473] +05/24 18:00:12 INFO: [Worker 0] Loaded 2 episodes for house 966 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 18:00:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 18:00:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml [task_sampler.py: 797] +05/24 18:00:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 18:00:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 18:00:14 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/24 18:00:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 18:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 18:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 18:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 18:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 18:00:14 INFO: [Worker 0] Sampled task 'Pick up the golden pump soap bottle' [task_sampler.py: 1136] +05/24 18:00:14 INFO: [Worker 0] Worker 0 house 966 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 18:00:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 18:00:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 18:00:21 INFO: [Worker 0] Worker 0 house 966 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 18:00:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 18:00:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml [task_sampler.py: 797] +05/24 18:00:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 18:00:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 18:00:26 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/24 18:00:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 18:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 18:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 18:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 18:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 18:00:26 INFO: [Worker 0] Sampled task 'Pick up the blue spray bottle with nozzle' [task_sampler.py: 1136] +05/24 18:00:26 INFO: [Worker 0] Worker 0 house 966 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 18:00:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 18:00:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 18:01:07 INFO: [Worker 0] Worker 0 house 966 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 18:01:10 INFO: [Worker 0] Batching and saving trajectory data for house_966: 2 episodes [pipeline.py: 233] +05/24 18:01:10 INFO: [Worker 0] Preparing episode data: 48 timesteps [save_utils.py: 284] +05/24 18:01:12 INFO: [Worker 0] Preparing episode data: 249 timesteps [save_utils.py: 284] +05/24 18:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:01:15 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966 [save_utils.py: 703] +05/24 18:01:15 INFO: [Worker 0] Successfully saved trajectory data for house_966 in 4.49s (batch: 4.41s, save: 0.08s) [pipeline.py: 280] +05/24 18:01:15 WARNING: [Worker 0] No trajectory data to save for house_966 [pipeline.py: 229] +05/24 18:01:15 INFO: [Worker 0] Worker 0 completed house 966: 2/2 successful episodes [pipeline.py: 1243] +05/24 18:01:15 INFO: [Worker 0] Worker 0 starting house 971 (index 81/83) [pipeline.py: 473] +05/24 18:01:15 INFO: [Worker 0] Loaded 1 episodes for house 971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 18:01:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 18:01:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_971_ceiling.xml [task_sampler.py: 797] +05/24 18:01:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=971, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 18:01:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 18:01:17 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/24 18:01:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 18:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 18:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 18:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 18:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 18:01:17 INFO: [Worker 0] Sampled task 'Pick up the silver polished butter knife with handle' [task_sampler.py: 1136] +05/24 18:01:17 INFO: [Worker 0] Worker 0 house 971 episode 0/1 collected=0/3 [pipeline.py: 1050] +05/24 18:01:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 18:02:28 INFO: [Worker 0] Worker 0 house 971 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 18:02:32 INFO: [Worker 0] Batching and saving trajectory data for house_971: 1 episodes [pipeline.py: 233] +05/24 18:02:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 18:02:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:02:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_971 [save_utils.py: 703] +05/24 18:02:34 INFO: [Worker 0] Successfully saved trajectory data for house_971 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/24 18:02:35 WARNING: [Worker 0] No trajectory data to save for house_971 [pipeline.py: 229] +05/24 18:02:35 INFO: [Worker 0] Worker 0 completed house 971: 0/1 successful episodes [pipeline.py: 1243] +05/24 18:02:35 INFO: [Worker 0] Worker 0 starting house 985 (index 82/83) [pipeline.py: 473] +05/24 18:02:35 INFO: [Worker 0] Loaded 2 episodes for house 985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/24 18:02:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 18:02:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml [task_sampler.py: 797] +05/24 18:02:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 18:02:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 18:02:38 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/24 18:02:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 18:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 18:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 18:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 18:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 18:02:38 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 18:02:38 INFO: [Worker 0] Worker 0 house 985 episode 0/2 collected=0/3 [pipeline.py: 1050] +05/24 18:02:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 18:04:01 INFO: [Worker 0] Worker 0 house 985 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 18:04:04 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] +05/24 18:04:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml [task_sampler.py: 797] +05/24 18:04:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 18:04:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 18:04:08 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/24 18:04:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 18:04:08 INFO: [Worker 0] Sampled task 'Pick up the red apple' [task_sampler.py: 1136] +05/24 18:04:08 INFO: [Worker 0] Worker 0 house 985 episode 1/2 collected=1/3 [pipeline.py: 1050] +05/24 18:04:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 18:04:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 18:04:15 INFO: [Worker 0] Worker 0 house 985 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 18:04:17 INFO: [Worker 0] Batching and saving trajectory data for house_985: 2 episodes [pipeline.py: 233] +05/24 18:04:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 18:04:19 INFO: [Worker 0] Preparing episode data: 39 timesteps [save_utils.py: 284] +05/24 18:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 18:04:21 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985 [save_utils.py: 703] +05/24 18:04:21 INFO: [Worker 0] Successfully saved trajectory data for house_985 in 3.42s (batch: 3.32s, save: 0.11s) [pipeline.py: 280] +05/24 18:04:21 WARNING: [Worker 0] No trajectory data to save for house_985 [pipeline.py: 229] +05/24 18:04:21 INFO: [Worker 0] Worker 0 completed house 985: 1/2 successful episodes [pipeline.py: 1243] +05/24 18:04:21 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/24 18:04:21 INFO: Completed 83 houses, skipped 0 houses [pipeline.py: 1496] +05/24 18:04:21 INFO: Success count: 61, Total count: 125 [pipeline.py: 1499] +05/24 18:04:21 INFO: Success rate: 48.80% [pipeline.py: 1500] diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/episode_results.jsonl b/pick_msproc/pick_msproc/shards/shard_01/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed4390fb4b2222f4d5ea143d05b88bec26b85a85 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_100", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_105", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_105", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_115", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 108, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_115", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 57, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_132", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_140", "episode_idx": 0, "success": true, "oracle_done": 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"success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_889/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_901", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 376, "task_description": "Pick up the matte dark teal rectangular box", "object_name": "box_4ab2cc42c0121e89202b9f093bf6f267_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_901/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_902", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 37, "task_description": "Pick up the matte dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_902", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 143, "task_description": "Pick up the orange conical spray bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_91", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_91/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_91", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metallic cooking pot with handle", "object_name": 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ceramic mug with handle", "object_name": "mug_38903e9f02926f380b587d1b9de9c00b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_926", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 70, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_945", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 94, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_945/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_952", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 69, "task_description": "Pick up the silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_952", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_966", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 46, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_966", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 247, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_971", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_971/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_985", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 37, "task_description": "Pick up the red apple", "object_name": "apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/eval.log b/pick_msproc/pick_msproc/shards/shard_01/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..8c252cbfe8bf8096a128a51dfe5e2ac19491b8e9 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/eval.log @@ -0,0 +1,2946 @@ +[2026-05-24 15:59:54,453] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,515] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,545] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 (source=arg) +[2026-05-24 15:59:56,740] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,042] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:44,140] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:44,141] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,531] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,609] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,648] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/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/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + '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': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [5, + 33, + 38, + 49, + 72, + 76, + 91, + 100, + 105, + 115, + 132, + 140, + 161, + 169, + 184, + 198, + 203, + 209, + 219, + 231, + 246, + 253, + 264, + 288, + 295, + 312, + 319, + 332, + 336, + 353, + 364, + 378, + 381, + 398, + 407, + 428, + 429, + 450, + 452, + 474, + 482, + 497, + 514, + 515, + 531, + 542, + 555, + 560, + 577, + 581, + 602, + 610, + 622, + 630, + 644, + 654, + 668, + 676, + 692, + 711, + 726, + 727, + 746, + 752, + 771, + 774, + 795, + 809, + 828, + 834, + 848, + 863, + 874, + 889, + 901, + 902, + 925, + 926, + 945, + 952, + 966, + 971, + 985], + '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': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,654] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,778:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,778] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_5_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 5 episode 0/1 collected=0/3 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.867 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:08,306] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:08,732] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:13,883] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:19,705] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:19,709] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:07:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5: 1 episodes +[05/24 16:07:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5 in 2.60s (batch: 2.51s, save: 0.09s) +[05/24 16:07:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5: 0/1 successful episodes +[05/24 16:07:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 33 (index 1/83) +[05/24 16:07:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 33 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_33_ceiling.xml +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=33, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:07:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 33 episode 0/1 collected=0/3 +[05/24 16:07:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 33 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:07:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_33: 1 episodes +[05/24 16:07:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:07:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_33 in 2.35s (batch: 2.32s, save: 0.03s) +[05/24 16:07:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 33: 1/1 successful episodes +[05/24 16:07:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 38 (index 2/83) +[05/24 16:07:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 38 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:08:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 0/2 collected=0/3 +[05/24 16:08:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:08:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:08:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 1/2 collected=1/3 +[05/24 16:08:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_38: 2 episodes +[05/24 16:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 16:09:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_38 in 4.70s (batch: 4.58s, save: 0.11s) +[05/24 16:09:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 38: 1/2 successful episodes +[05/24 16:09:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 49 (index 3/83) +[05/24 16:09:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 49 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:09:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_49_ceiling.xml +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=49, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:09:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 49 episode 0/1 collected=0/3 +[05/24 16:09:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 49 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:11:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_49: 1 episodes +[05/24 16:11:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_49 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 16:11:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 49: 0/1 successful episodes +[05/24 16:11:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 72 (index 4/83) +[05/24 16:11:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 72 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:11:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_72_ceiling.xml +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=72, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:11:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 72 episode 0/1 collected=0/3 +[05/24 16:11:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 72 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:12:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_72: 1 episodes +[05/24 16:12:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_72 +[05/24 16:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_72 in 2.41s (batch: 2.33s, save: 0.08s) +[05/24 16:12:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_72 +[05/24 16:12:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 72: 0/1 successful episodes +[05/24 16:12:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 76 (index 5/83) +[05/24 16:12:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 76 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:12:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vessel' +[05/24 16:12:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 0/2 collected=0/3 +[05/24 16:12:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=False +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:13:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 1/2 collected=1/3 +[05/24 16:13:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False +[05/24 16:15:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_76: 2 episodes +[05/24 16:15:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_76 +[05/24 16:15:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_76 in 4.87s (batch: 4.70s, save: 0.16s) +[05/24 16:15:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_76 +[05/24 16:15:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 76: 0/2 successful episodes +[05/24 16:15:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 91 (index 6/83) +[05/24 16:15:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 91 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:15:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:15:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 0/2 collected=0/3 +[05/24 16:15:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:16:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 1/2 collected=1/3 +[05/24 16:16:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False +[05/24 16:18:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_91: 2 episodes +[05/24 16:18:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_91 +[05/24 16:18:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_91 in 5.42s (batch: 5.25s, save: 0.18s) +[05/24 16:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_91 +[05/24 16:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 91: 0/2 successful episodes +[05/24 16:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 100 (index 7/83) +[05/24 16:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_100_ceiling.xml +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=100, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:18:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 100 episode 0/1 collected=0/3 +[05/24 16:18:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 100 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:19:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_100: 1 episodes +[05/24 16:19:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_100 in 1.97s (batch: 1.87s, save: 0.10s) +[05/24 16:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 100: 0/1 successful episodes +[05/24 16:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 105 (index 8/83) +[05/24 16:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:19:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 0/2 collected=0/3 +[05/24 16:19:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:21:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:21:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 1/2 collected=1/3 +[05/24 16:21:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8 completed with success=False +[05/24 16:22:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_105: 2 episodes +[05/24 16:22:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_105 in 4.87s (batch: 4.70s, save: 0.17s) +[05/24 16:22:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 105: 0/2 successful episodes +[05/24 16:22:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 115 (index 9/83) +[05/24 16:22:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:22:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:22:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 0/2 collected=0/3 +[05/24 16:22:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:23:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:23:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 1/2 collected=1/3 +[05/24 16:23:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_115: 2 episodes +[05/24 16:23:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 110 timesteps +[05/24 16:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_115 in 3.37s (batch: 3.31s, save: 0.06s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 115: 2/2 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 132 (index 10/83) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 0/2 collected=0/3 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:25:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:25:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 1/2 collected=1/3 +[05/24 16:25:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_132: 2 episodes +[05/24 16:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132 +[05/24 16:27:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_132 in 5.06s (batch: 4.89s, save: 0.17s) +[05/24 16:27:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_132 +[05/24 16:27:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 132: 0/2 successful episodes +[05/24 16:27:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 140 (index 11/83) +[05/24 16:27:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_140_ceiling.xml +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=140, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 16:27:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 140 episode 0/1 collected=0/3 +[05/24 16:27:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 140 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 16:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_140: 1 episodes +[05/24 16:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_140 +[05/24 16:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_140 in 2.33s (batch: 2.30s, save: 0.03s) +[05/24 16:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_140 +[05/24 16:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 140: 1/1 successful episodes +[05/24 16:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 161 (index 12/83) +[05/24 16:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_161_ceiling.xml +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=161, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 16:27:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 161 episode 0/1 collected=0/3 +[05/24 16:27:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 161 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 16:27:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_161: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_161 in 2.20s (batch: 2.17s, save: 0.03s) +[05/24 16:27:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 161: 1/1 successful episodes +[05/24 16:27:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 169 (index 13/83) +[05/24 16:27:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butter knife' +[05/24 16:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 0/2 collected=0/3 +[05/24 16:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:28:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper pot' +[05/24 16:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 1/2 collected=1/3 +[05/24 16:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:29:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_169: 2 episodes +[05/24 16:29:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 16:29:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_169 in 3.86s (batch: 3.73s, save: 0.13s) +[05/24 16:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 169: 1/2 successful episodes +[05/24 16:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 184 (index 14/83) +[05/24 16:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_184_ceiling.xml +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=184, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 184 episode 0/1 collected=0/3 +[05/24 16:29:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 184 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=False +[05/24 16:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_184: 1 episodes +[05/24 16:31:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_184 +[05/24 16:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_184 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:31:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_184 +[05/24 16:31:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 184: 0/1 successful episodes +[05/24 16:31:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 198 (index 15/83) +[05/24 16:31:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_198_ceiling.xml +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=198, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:31:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 198 episode 0/1 collected=0/3 +[05/24 16:31:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 198 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 16:31:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_198: 1 episodes +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_198 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_198 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:31:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_198 +[05/24 16:31:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 198: 1/1 successful episodes +[05/24 16:31:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 203 (index 16/83) +[05/24 16:31:29 Worker 0 INFO json_eval_runner.py:278] Loaded 3 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 0/3 collected=0/3 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:31:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 1/3 collected=1/3 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:33:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 2/3 collected=2/3 +[05/24 16:33:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 2 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_3 completed with success=True +[05/24 16:33:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_203: 3 episodes +[05/24 16:33:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 16:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 128 timesteps +[05/24 16:33:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 INFO save_utils.py:703] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_203 in 6.90s (batch: 6.72s, save: 0.17s) +[05/24 16:33:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 203: 2/3 successful episodes +[05/24 16:33:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 209 (index 17/83) +[05/24 16:33:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 209 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:33:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:33:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 0/2 collected=0/3 +[05/24 16:33:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:33:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:33:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 1/2 collected=1/3 +[05/24 16:33:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:34:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_209: 2 episodes +[05/24 16:34:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_209 in 3.32s (batch: 3.27s, save: 0.05s) +[05/24 16:34:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 209: 2/2 successful episodes +[05/24 16:34:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 219 (index 18/83) +[05/24 16:34:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:34:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_219_ceiling.xml +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=219, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 16:34:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 219 episode 0/1 collected=0/3 +[05/24 16:34:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 219 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 16:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_219: 1 episodes +[05/24 16:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_219 +[05/24 16:35:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_219 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_219 +[05/24 16:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 219: 0/1 successful episodes +[05/24 16:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 231 (index 19/83) +[05/24 16:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:35:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 0/2 collected=0/3 +[05/24 16:35:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:37:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 1/2 collected=1/3 +[05/24 16:37:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:38:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_231: 2 episodes +[05/24 16:38:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_231 in 3.88s (batch: 3.71s, save: 0.17s) +[05/24 16:38:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 231: 0/2 successful episodes +[05/24 16:38:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 246 (index 20/83) +[05/24 16:38:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:38:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_246_ceiling.xml +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=246, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:38:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 246 episode 0/1 collected=0/3 +[05/24 16:38:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 246 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:40:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_246: 1 episodes +[05/24 16:40:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_246 +[05/24 16:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_246 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 16:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_246 +[05/24 16:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 246: 0/1 successful episodes +[05/24 16:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 253 (index 21/83) +[05/24 16:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 0/2 collected=0/3 +[05/24 16:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:41:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 1/2 collected=1/3 +[05/24 16:41:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:41:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_253: 2 episodes +[05/24 16:41:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_253 +[05/24 16:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_253 in 3.64s (batch: 3.51s, save: 0.12s) +[05/24 16:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_253 +[05/24 16:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 253: 1/2 successful episodes +[05/24 16:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 264 (index 22/83) +[05/24 16:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_264_ceiling.xml +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=264, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:41:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 264 episode 0/1 collected=0/3 +[05/24 16:41:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 264 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:43:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_264: 1 episodes +[05/24 16:43:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_264 in 2.42s (batch: 2.33s, save: 0.09s) +[05/24 16:43:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 264: 0/1 successful episodes +[05/24 16:43:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 288 (index 23/83) +[05/24 16:43:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:43:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:43:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 0/2 collected=0/3 +[05/24 16:43:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True +[05/24 16:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 1/2 collected=1/3 +[05/24 16:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_288: 2 episodes +[05/24 16:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_288 +[05/24 16:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_288 in 4.74s (batch: 4.63s, save: 0.11s) +[05/24 16:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_288 +[05/24 16:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 288: 1/2 successful episodes +[05/24 16:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 295 (index 24/83) +[05/24 16:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_295_ceiling.xml +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=295, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 295 episode 0/1 collected=0/3 +[05/24 16:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 295 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_295: 1 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_295 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:46:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 295: 0/1 successful episodes +[05/24 16:46:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 312 (index 25/83) +[05/24 16:46:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:46:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 0/2 collected=0/3 +[05/24 16:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:47:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 1/2 collected=1/3 +[05/24 16:47:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/24 16:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_312: 2 episodes +[05/24 16:48:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_312 +[05/24 16:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_312 in 3.86s (batch: 3.69s, save: 0.17s) +[05/24 16:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_312 +[05/24 16:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 312: 0/2 successful episodes +[05/24 16:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 319 (index 26/83) +[05/24 16:48:44 Worker 0 INFO json_eval_runner.py:278] 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/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_319_ceiling.xml +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:48:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 319 episode 0/1 collected=0/3 +[05/24 16:48:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 319 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True +[05/24 16:49:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_319: 1 episodes +[05/24 16:49:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 16:49:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_319 +[05/24 16:49:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_319 in 1.69s (batch: 1.65s, save: 0.04s) +[05/24 16:49:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_319 +[05/24 16:49:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 319: 1/1 successful episodes +[05/24 16:49:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 332 (index 27/83) +[05/24 16:49:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:49:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:49:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 0/2 collected=0/3 +[05/24 16:49:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:50:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal pot' +[05/24 16:50:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 1/2 collected=1/3 +[05/24 16:50:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:50:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_332: 2 episodes +[05/24 16:50:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_332 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 16:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 332: 1/2 successful episodes +[05/24 16:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 336 (index 28/83) +[05/24 16:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_336_ceiling.xml +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 16:50:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 336 episode 0/1 collected=0/3 +[05/24 16:50:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 336 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_3 completed with success=True +[05/24 16:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_336: 1 episodes +[05/24 16:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 16:51:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_336 +[05/24 16:51:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_336 in 2.19s (batch: 2.16s, save: 0.04s) +[05/24 16:51:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_336 +[05/24 16:51:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 336: 1/1 successful episodes +[05/24 16:51:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 353 (index 29/83) +[05/24 16:51:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 353 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_353_ceiling.xml +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=353, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:51:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 353 episode 0/1 collected=0/3 +[05/24 16:51:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 353 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_353: 1 episodes +[05/24 16:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_353 +[05/24 16:52:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_353 in 2.50s (batch: 2.40s, save: 0.10s) +[05/24 16:52:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_353 +[05/24 16:52:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 353: 0/1 successful episodes +[05/24 16:52:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 364 (index 30/83) +[05/24 16:52:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:52:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 0/2 collected=0/3 +[05/24 16:52:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:52:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 1/2 collected=1/3 +[05/24 16:52:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_364: 2 episodes +[05/24 16:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_364 in 3.64s (batch: 3.53s, save: 0.11s) +[05/24 16:54:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 364: 1/2 successful episodes +[05/24 16:54:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 378 (index 31/83) +[05/24 16:54:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 16:54:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 0/2 collected=0/3 +[05/24 16:54:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 16:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 16:54:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 1/2 collected=1/3 +[05/24 16:54:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_378: 2 episodes +[05/24 16:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_378 in 3.31s (batch: 3.25s, save: 0.05s) +[05/24 16:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 378: 2/2 successful episodes +[05/24 16:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 381 (index 32/83) +[05/24 16:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_381_ceiling.xml +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=381, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:54:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 381 episode 0/1 collected=0/3 +[05/24 16:54:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 381 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:56:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_381: 1 episodes +[05/24 16:56:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_381 +[05/24 16:56:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_381 in 1.92s (batch: 1.84s, save: 0.09s) +[05/24 16:56:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_381 +[05/24 16:56:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 381: 0/1 successful episodes +[05/24 16:56:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 398 (index 33/83) +[05/24 16:56:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:56:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:56:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 0/2 collected=0/3 +[05/24 16:56:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True +[05/24 16:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:56:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 1/2 collected=1/3 +[05/24 16:56:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 16:57:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_398: 2 episodes +[05/24 16:57:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:57:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_398 in 4.63s (batch: 4.52s, save: 0.11s) +[05/24 16:57:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 398: 1/2 successful episodes +[05/24 16:57:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 407 (index 34/83) +[05/24 16:57:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:57:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_407_ceiling.xml +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=407, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 111 objects +[05/24 16:57:46 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 16:57:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 407 episode 0/1 collected=0/3 +[05/24 16:57:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 407 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:59:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_407: 1 episodes +[05/24 16:59:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_407 in 1.98s (batch: 1.89s, save: 0.09s) +[05/24 16:59:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 407: 0/1 successful episodes +[05/24 16:59:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 428 (index 35/83) +[05/24 16:59:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:59:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:59:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 0/2 collected=0/3 +[05/24 16:59:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:00:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 1/2 collected=1/3 +[05/24 17:00:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False +[05/24 17:01:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_428: 2 episodes +[05/24 17:01:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 17:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_428 +[05/24 17:01:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_428 in 3.66s (batch: 3.55s, save: 0.12s) +[05/24 17:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_428 +[05/24 17:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 428: 1/2 successful episodes +[05/24 17:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 429 (index 36/83) +[05/24 17:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_429_ceiling.xml +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=429, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:01:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 429 episode 0/1 collected=0/3 +[05/24 17:01:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 429 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=True +[05/24 17:01:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_429: 1 episodes +[05/24 17:01:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:01:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_429 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:01:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 429: 1/1 successful episodes +[05/24 17:01:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 450 (index 37/83) +[05/24 17:01:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 0/2 collected=0/3 +[05/24 17:01:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_7 completed with success=False +[05/24 17:03:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:03:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 1/2 collected=1/3 +[05/24 17:03:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=True +[05/24 17:03:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_450: 2 episodes +[05/24 17:03:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_450 in 3.47s (batch: 3.36s, save: 0.11s) +[05/24 17:03:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 450: 1/2 successful episodes +[05/24 17:03:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 452 (index 38/83) +[05/24 17:03:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:03:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_452_ceiling.xml +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=452, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stainless steel kitchen ladle' +[05/24 17:03:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 452 episode 0/1 collected=0/3 +[05/24 17:03:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 452 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_452: 1 episodes +[05/24 17:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_452 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:04:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 452: 1/1 successful episodes +[05/24 17:04:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 474 (index 39/83) +[05/24 17:04:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:04:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutting implement' +[05/24 17:04:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 0/2 collected=0/3 +[05/24 17:04:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:05:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:05:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 1/2 collected=1/3 +[05/24 17:05:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 17:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_474: 2 episodes +[05/24 17:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 353 timesteps +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_474 +[05/24 17:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_474 in 4.90s (batch: 4.72s, save: 0.17s) +[05/24 17:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_474 +[05/24 17:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 474: 1/2 successful episodes +[05/24 17:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 482 (index 40/83) +[05/24 17:06:54 Worker 0 INFO json_eval_runner.py:278] 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/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_482_ceiling.xml +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:06:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 482 episode 0/1 collected=0/3 +[05/24 17:06:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 482 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_3_0_8 completed with success=True +[05/24 17:07:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_482: 1 episodes +[05/24 17:07:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/24 17:07:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_482 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 17:07:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 482: 1/1 successful episodes +[05/24 17:07:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 497 (index 41/83) +[05/24 17:07:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_497_ceiling.xml +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=497, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 497 episode 0/1 collected=0/3 +[05/24 17:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 497 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 17:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_497: 1 episodes +[05/24 17:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_497 in 2.28s (batch: 2.25s, save: 0.03s) +[05/24 17:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 497: 1/1 successful episodes +[05/24 17:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 514 (index 42/83) +[05/24 17:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_514_ceiling.xml +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=514, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 514 episode 0/1 collected=0/3 +[05/24 17:07:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 514 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_514: 1 episodes +[05/24 17:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_514 +[05/24 17:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_514 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_514 +[05/24 17:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 514: 0/1 successful episodes +[05/24 17:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 515 (index 43/83) +[05/24 17:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:09:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 0/2 collected=0/3 +[05/24 17:09:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False +[05/24 17:10:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige mug' +[05/24 17:10:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 1/2 collected=1/3 +[05/24 17:10:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:10:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_515: 2 episodes +[05/24 17:10:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_515 +[05/24 17:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_515 in 4.67s (batch: 4.55s, save: 0.12s) +[05/24 17:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_515 +[05/24 17:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 515: 1/2 successful episodes +[05/24 17:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 531 (index 44/83) +[05/24 17:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_531_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=531, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:10:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 531 episode 0/1 collected=0/3 +[05/24 17:10:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 531 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=True +[05/24 17:11:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_531: 1 episodes +[05/24 17:11:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:11:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_531 in 1.64s (batch: 1.58s, save: 0.06s) +[05/24 17:11:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 531: 1/1 successful episodes +[05/24 17:11:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 542 (index 45/83) +[05/24 17:11:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 17:11:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 0/2 collected=0/3 +[05/24 17:11:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:11:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:11:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 1/2 collected=1/3 +[05/24 17:11:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:11:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_542: 2 episodes +[05/24 17:11:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 17:11:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_542 +[05/24 17:11:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_542 in 4.45s (batch: 4.38s, save: 0.06s) +[05/24 17:11:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_542 +[05/24 17:11:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 542: 2/2 successful episodes +[05/24 17:11:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 555 (index 46/83) +[05/24 17:11:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:11:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 0/2 collected=0/3 +[05/24 17:11:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:13:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 1/2 collected=1/3 +[05/24 17:13:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_555: 2 episodes +[05/24 17:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_555 +[05/24 17:13:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_555 in 3.61s (batch: 3.49s, save: 0.12s) +[05/24 17:13:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_555 +[05/24 17:13:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 555: 1/2 successful episodes +[05/24 17:13:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 560 (index 47/83) +[05/24 17:13:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:13:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_560_ceiling.xml +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=560, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:13:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 560 episode 0/1 collected=0/3 +[05/24 17:13:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 560 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:13:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_560: 1 episodes +[05/24 17:13:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:14:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_560 in 2.22s (batch: 2.19s, save: 0.03s) +[05/24 17:14:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 560: 1/1 successful episodes +[05/24 17:14:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 577 (index 48/83) +[05/24 17:14:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:14:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 0/2 collected=0/3 +[05/24 17:14:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:14:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 17:14:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 1/2 collected=1/3 +[05/24 17:14:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:14:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_577: 2 episodes +[05/24 17:14:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 17:14:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_577 in 3.27s (batch: 3.21s, save: 0.05s) +[05/24 17:14:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 577: 2/2 successful episodes +[05/24 17:14:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 581 (index 49/83) +[05/24 17:14:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_581_ceiling.xml +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=581, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:14:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 581 episode 0/1 collected=0/3 +[05/24 17:14:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 581 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 17:16:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_581: 1 episodes +[05/24 17:16:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_581 in 2.45s (batch: 2.34s, save: 0.11s) +[05/24 17:16:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 581: 0/1 successful episodes +[05/24 17:16:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 602 (index 50/83) +[05/24 17:16:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_602_ceiling.xml +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=602, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:16:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 602 episode 0/1 collected=0/3 +[05/24 17:16:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 602 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_602: 1 episodes +[05/24 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_602 in 1.68s (batch: 1.65s, save: 0.03s) +[05/24 17:16:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 602: 1/1 successful episodes +[05/24 17:16:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 51/83) +[05/24 17:16:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:16:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 0/2 collected=0/3 +[05/24 17:16:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:17:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:17:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 1/2 collected=1/3 +[05/24 17:17:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 3.82s (batch: 3.64s, save: 0.18s) +[05/24 17:19:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/2 successful episodes +[05/24 17:19:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 52/83) +[05/24 17:19:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_622_ceiling.xml +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=622, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:19:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 622 episode 0/1 collected=0/3 +[05/24 17:19:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=True +[05/24 17:19:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/24 17:19:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_622 +[05/24 17:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 1.67s (batch: 1.64s, save: 0.03s) +[05/24 17:19:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/24 17:19:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 1/1 successful episodes +[05/24 17:19:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 630 (index 53/83) +[05/24 17:19:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 630 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:19:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 0/2 collected=0/3 +[05/24 17:19:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:19:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 1/2 collected=1/3 +[05/24 17:19:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_630: 2 episodes +[05/24 17:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 99 timesteps +[05/24 17:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_630 in 3.66s (batch: 3.52s, save: 0.13s) +[05/24 17:21:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 630: 1/2 successful episodes +[05/24 17:21:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 644 (index 54/83) +[05/24 17:21:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:21:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:21:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 0/2 collected=0/3 +[05/24 17:21:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:23:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 1/2 collected=1/3 +[05/24 17:23:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 17:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_644: 2 episodes +[05/24 17:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_644 +[05/24 17:24:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_644 in 4.76s (batch: 4.60s, save: 0.16s) +[05/24 17:24:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_644 +[05/24 17:24:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 644: 0/2 successful episodes +[05/24 17:24:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 654 (index 55/83) +[05/24 17:24:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:24:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_654_ceiling.xml +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=654, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:24:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 654 episode 0/1 collected=0/3 +[05/24 17:24:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 654 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_654: 1 episodes +[05/24 17:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_654 in 2.45s (batch: 2.36s, save: 0.09s) +[05/24 17:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 654: 0/1 successful episodes +[05/24 17:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 668 (index 56/83) +[05/24 17:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_668_ceiling.xml +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=668, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:26:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 668 episode 0/1 collected=0/3 +[05/24 17:26:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 668 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True +[05/24 17:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_668: 1 episodes +[05/24 17:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:26:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_668 in 2.23s (batch: 2.19s, save: 0.03s) +[05/24 17:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 668: 1/1 successful episodes +[05/24 17:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 676 (index 57/83) +[05/24 17:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:26:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 0/2 collected=0/3 +[05/24 17:26:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:28:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 1/2 collected=1/3 +[05/24 17:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:29:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_676: 2 episodes +[05/24 17:29:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_676 +[05/24 17:29:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_676 in 5.00s (batch: 4.82s, save: 0.17s) +[05/24 17:29:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_676 +[05/24 17:29:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 676: 0/2 successful episodes +[05/24 17:29:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 692 (index 58/83) +[05/24 17:29:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:29:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_692_ceiling.xml +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=692, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:29:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 692 episode 0/1 collected=0/3 +[05/24 17:29:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 692 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_692: 1 episodes +[05/24 17:30:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_692 +[05/24 17:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_692 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_692 +[05/24 17:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 692: 1/1 successful episodes +[05/24 17:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 711 (index 59/83) +[05/24 17:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 711 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_711_ceiling.xml +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=711, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal box' +[05/24 17:30:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 711 episode 0/1 collected=0/3 +[05/24 17:30:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 711 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False +[05/24 17:31:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_711: 1 episodes +[05/24 17:31:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_711 +[05/24 17:31:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_711 in 1.89s (batch: 1.79s, save: 0.09s) +[05/24 17:32:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_711 +[05/24 17:32:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 711: 0/1 successful episodes +[05/24 17:32:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 726 (index 60/83) +[05/24 17:32:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:32:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_726_ceiling.xml +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=726, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:32:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 726 episode 0/1 collected=0/3 +[05/24 17:32:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 726 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:33:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_726: 1 episodes +[05/24 17:33:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_726 in 2.48s (batch: 2.38s, save: 0.09s) +[05/24 17:33:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 726: 0/1 successful episodes +[05/24 17:33:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 727 (index 61/83) +[05/24 17:33:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:33:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:33:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 0/2 collected=0/3 +[05/24 17:33:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:33:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 17:33:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 1/2 collected=1/3 +[05/24 17:33:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 17:34:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_727: 2 episodes +[05/24 17:34:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:34:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_727 in 4.71s (batch: 4.61s, save: 0.11s) +[05/24 17:34:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 727: 1/2 successful episodes +[05/24 17:34:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 746 (index 62/83) +[05/24 17:34:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:34:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:34:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 0/2 collected=0/3 +[05/24 17:34:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:35:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:35:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 1/2 collected=1/3 +[05/24 17:35:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:35:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_746: 2 episodes +[05/24 17:35:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:35:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 153 timesteps +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_746 in 4.32s (batch: 4.25s, save: 0.07s) +[05/24 17:35:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 746: 2/2 successful episodes +[05/24 17:35:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 752 (index 63/83) +[05/24 17:35:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 752 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_752_ceiling.xml +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=752, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 17:35:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 752 episode 0/1 collected=0/3 +[05/24 17:35:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 752 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 17:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_752: 1 episodes +[05/24 17:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 25 timesteps +[05/24 17:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_752 in 1.64s (batch: 1.62s, save: 0.02s) +[05/24 17:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 752: 1/1 successful episodes +[05/24 17:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 771 (index 64/83) +[05/24 17:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_771_ceiling.xml +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=771, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:35:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 771 episode 0/1 collected=0/3 +[05/24 17:35:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 771 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False +[05/24 17:37:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_771: 1 episodes +[05/24 17:37:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_771 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 771: 0/1 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 65/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:37:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 0/2 collected=0/3 +[05/24 17:37:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 17:38:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 1/2 collected=1/3 +[05/24 17:38:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 1 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False +[05/24 17:40:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 2 episodes +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_774 +[05/24 17:40:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 3.80s (batch: 3.63s, save: 0.16s) +[05/24 17:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/24 17:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/2 successful episodes +[05/24 17:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 795 (index 66/83) +[05/24 17:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_795_ceiling.xml +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=795, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:40:11 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown box' +[05/24 17:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 795 episode 0/1 collected=0/3 +[05/24 17:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 795 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_3 completed with success=False +[05/24 17:41:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_795: 1 episodes +[05/24 17:41:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_795 +[05/24 17:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_795 in 2.30s (batch: 2.21s, save: 0.09s) +[05/24 17:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_795 +[05/24 17:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 795: 0/1 successful episodes +[05/24 17:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 809 (index 67/83) +[05/24 17:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:41:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 0/2 collected=0/3 +[05/24 17:41:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 17:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:42:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 1/2 collected=1/3 +[05/24 17:42:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:44:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_809: 2 episodes +[05/24 17:44:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/24 17:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_809 +[05/24 17:44:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_809 in 4.80s (batch: 4.66s, save: 0.14s) +[05/24 17:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_809 +[05/24 17:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 809: 1/2 successful episodes +[05/24 17:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 828 (index 68/83) +[05/24 17:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_828_ceiling.xml +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=828, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:44:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 828 episode 0/1 collected=0/3 +[05/24 17:44:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 828 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:44:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_828: 1 episodes +[05/24 17:44:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_828 +[05/24 17:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_828 in 2.21s (batch: 2.16s, save: 0.05s) +[05/24 17:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_828 +[05/24 17:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 828: 1/1 successful episodes +[05/24 17:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 834 (index 69/83) +[05/24 17:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:44:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 0/2 collected=0/3 +[05/24 17:44:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 1/2 collected=1/3 +[05/24 17:44:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:45:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_834: 2 episodes +[05/24 17:45:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_834 +[05/24 17:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_834 in 4.80s (batch: 4.69s, save: 0.11s) +[05/24 17:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_834 +[05/24 17:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 834: 1/2 successful episodes +[05/24 17:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 848 (index 70/83) +[05/24 17:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 0/2 collected=0/3 +[05/24 17:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:46:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:46:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 1/2 collected=1/3 +[05/24 17:46:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_4 completed with success=False +[05/24 17:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_848: 2 episodes +[05/24 17:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 176 timesteps +[05/24 17:48:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_848 in 3.61s (batch: 3.48s, save: 0.13s) +[05/24 17:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 848: 1/2 successful episodes +[05/24 17:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 863 (index 71/83) +[05/24 17:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_863_ceiling.xml +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=863, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:48:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 863 episode 0/1 collected=0/3 +[05/24 17:48:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 863 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:49:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_863: 1 episodes +[05/24 17:49:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:49:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_863 +[05/24 17:49:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_863 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:49:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_863 +[05/24 17:49:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 863: 1/1 successful episodes +[05/24 17:49:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 874 (index 72/83) +[05/24 17:49:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:49:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:49:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 0/2 collected=0/3 +[05/24 17:49:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:50:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:50:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 1/2 collected=1/3 +[05/24 17:50:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_3 completed with success=False +[05/24 17:51:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_874: 2 episodes +[05/24 17:51:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_874 in 3.95s (batch: 3.77s, save: 0.19s) +[05/24 17:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 874: 0/2 successful episodes +[05/24 17:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 889 (index 73/83) +[05/24 17:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 889 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:51:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 0/2 collected=0/3 +[05/24 17:51:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_7 completed with success=False +[05/24 17:53:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:53:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 1/2 collected=1/3 +[05/24 17:53:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_889: 2 episodes +[05/24 17:54:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_889 in 4.96s (batch: 4.79s, save: 0.17s) +[05/24 17:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 889: 0/2 successful episodes +[05/24 17:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 901 (index 74/83) +[05/24 17:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 901 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_901_ceiling.xml +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=901, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:55:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 901 episode 0/1 collected=0/3 +[05/24 17:55:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 901 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_8 completed with success=True +[05/24 17:56:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_901: 1 episodes +[05/24 17:56:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 378 timesteps +[05/24 17:56:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_901 in 2.48s (batch: 2.38s, save: 0.10s) +[05/24 17:56:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 901: 1/1 successful episodes +[05/24 17:56:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 75/83) +[05/24 17:56:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:56:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:56:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 0/2 collected=0/3 +[05/24 17:56:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_2 completed with success=True +[05/24 17:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 17:56:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 1/2 collected=1/3 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 17:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 2 episodes +[05/24 17:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:57:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 145 timesteps +[05/24 17:57:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 3.35s (batch: 3.28s, save: 0.07s) +[05/24 17:57:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 2/2 successful episodes +[05/24 17:57:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 925 (index 76/83) +[05/24 17:57:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_925_ceiling.xml +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=925, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:57:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 925 episode 0/1 collected=0/3 +[05/24 17:57:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 925 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_925: 1 episodes +[05/24 17:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:57:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_925 in 2.16s (batch: 2.13s, save: 0.03s) +[05/24 17:57:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 925: 1/1 successful episodes +[05/24 17:57:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 926 (index 77/83) +[05/24 17:57:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 926 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:57:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 0/2 collected=0/3 +[05/24 17:57:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:57:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 1/2 collected=1/3 +[05/24 17:57:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 17:58:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_926: 2 episodes +[05/24 17:58:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:58:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926 +[05/24 17:58:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_926 in 3.32s (batch: 3.27s, save: 0.06s) +[05/24 17:58:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_926 +[05/24 17:58:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 926: 2/2 successful episodes +[05/24 17:58:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 945 (index 78/83) +[05/24 17:58:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_945_ceiling.xml +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=945, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 945 episode 0/1 collected=0/3 +[05/24 17:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 945 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=True +[05/24 17:58:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_945: 1 episodes +[05/24 17:58:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:58:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_945 in 2.19s (batch: 2.15s, save: 0.05s) +[05/24 17:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 945: 1/1 successful episodes +[05/24 17:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 952 (index 79/83) +[05/24 17:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 0/2 collected=0/3 +[05/24 17:58:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 1/2 collected=1/3 +[05/24 17:58:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 18:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_952: 2 episodes +[05/24 18:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 18:00:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_952 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 18:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 952: 1/2 successful episodes +[05/24 18:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 966 (index 80/83) +[05/24 18:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 966 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 18:00:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 0/2 collected=0/3 +[05/24 18:00:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 18:00:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:00:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 1/2 collected=1/3 +[05/24 18:00:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 18:01:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_966: 2 episodes +[05/24 18:01:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 18:01:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_966 in 4.49s (batch: 4.41s, save: 0.08s) +[05/24 18:01:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 966: 2/2 successful episodes +[05/24 18:01:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 971 (index 81/83) +[05/24 18:01:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:01:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_971_ceiling.xml +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=971, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 18:01:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 971 episode 0/1 collected=0/3 +[05/24 18:01:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 971 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 18:02:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_971: 1 episodes +[05/24 18:02:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_971 +[05/24 18:02:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_971 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 18:02:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_971 +[05/24 18:02:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 971: 0/1 successful episodes +[05/24 18:02:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 985 (index 82/83) +[05/24 18:02:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:02:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 18:02:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 0/2 collected=0/3 +[05/24 18:02:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 18:04:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 18:04:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 1/2 collected=1/3 +[05/24 18:04:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=True +[05/24 18:04:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_985: 2 episodes +[05/24 18:04:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_985 in 3.42s (batch: 3.32s, save: 0.11s) +[05/24 18:04:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 985: 1/2 successful episodes +[05/24 18:04:21 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:04:21 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:04:21 INFO pipeline.py:1499] Success count: 61, Total count: 125 +[05/24 18:04:21 INFO pipeline.py:1500] Success rate: 48.80% +Combined 125 episodes from 83 files → /tmp/tmp3ymhbsvr.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv at-end: 48.8% | oracle: 48.8% of 125 episodes +[2026-05-24 18:04:31,306] INFO MolmoSpaces simulator eval finished: success=61/125 rate=0.4880 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval +[2026-05-24 18:04:31,306] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/eval_meta.json b/pick_msproc/pick_msproc/shards/shard_01/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6142677c4575f8b2692d97d86b92dfea44f8a955 --- /dev/null +++ b/pick_msproc/pick_msproc/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/pick_msproc/pick_msproc/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/pick_msproc/pick_msproc/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_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", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv" +} diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/results.csv b/pick_msproc/pick_msproc/shards/shard_01/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..6ad421abc568855a2f6f167c8ec852b3a49e1ea9 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,11,27.27,9.92,57.19,3,27.27,9.92,57.19,201.376193,67.69155 +latest,Bowl,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,139.223359,57.405806 +latest,Box,7,10,70.0,39.03,89.07,7,70.0,39.03,89.07,249.926286,123.81962 +latest,Cup,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,159.67528,69.138665 +latest,Fork,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,127.215916,56.432148 +latest,Fruit,2,5,40.0,11.81,77.72,2,40.0,11.81,77.72,248.389123,122.78394 +latest,Kettle,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,166.825519,69.101799 +latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,153.872741,106.928957 +latest,Ladle,5,9,55.56,26.24,81.29,5,55.56,26.24,81.29,148.585918,109.282757 +latest,Mug,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,153.921517,123.069837 +latest,Pot,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,272.563388,187.477879 +latest,Remote Control,2,7,28.57,8.52,65.09,2,28.57,8.52,65.09,103.525611,44.062433 +latest,S/p Shaker,3,8,37.5,13.7,70.07,3,37.5,13.7,70.07,227.183219,78.806421 +latest,Soap Dispenser,2,7,28.57,8.52,65.09,2,28.57,8.52,65.09,320.568093,187.715276 +latest,Spatula,1,6,16.67,3.67,57.87,1,16.67,3.67,57.87,122.212393,69.372204 +latest,Spoon,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,158.658046,84.061723 +latest,Spray Bottle,2,5,40.0,11.81,77.72,2,40.0,11.81,77.72,183.344508,81.301107 +latest,Tissue Paper,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,168.496005,84.459294 +latest,OVERALL,61,125,48.8,40.19,57.48,61,48.8,40.19,57.48,185.840702,117.582346 diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/run_command.sh b/pick_msproc/pick_msproc/shards/shard_01/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..9bdd3e2566d9a1e441bc34d22643ddf1d9bd0db4 --- /dev/null +++ b/pick_msproc/pick_msproc/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/pick_msproc/pick_msproc/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_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 diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/shard_01_results.csv b/pick_msproc/pick_msproc/shards/shard_01/submission/shard_01_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..6ad421abc568855a2f6f167c8ec852b3a49e1ea9 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/shard_01_results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,11,27.27,9.92,57.19,3,27.27,9.92,57.19,201.376193,67.69155 +latest,Bowl,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,139.223359,57.405806 +latest,Box,7,10,70.0,39.03,89.07,7,70.0,39.03,89.07,249.926286,123.81962 +latest,Cup,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,159.67528,69.138665 +latest,Fork,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,127.215916,56.432148 +latest,Fruit,2,5,40.0,11.81,77.72,2,40.0,11.81,77.72,248.389123,122.78394 +latest,Kettle,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,166.825519,69.101799 +latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,153.872741,106.928957 +latest,Ladle,5,9,55.56,26.24,81.29,5,55.56,26.24,81.29,148.585918,109.282757 +latest,Mug,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,153.921517,123.069837 +latest,Pot,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,272.563388,187.477879 +latest,Remote Control,2,7,28.57,8.52,65.09,2,28.57,8.52,65.09,103.525611,44.062433 +latest,S/p Shaker,3,8,37.5,13.7,70.07,3,37.5,13.7,70.07,227.183219,78.806421 +latest,Soap Dispenser,2,7,28.57,8.52,65.09,2,28.57,8.52,65.09,320.568093,187.715276 +latest,Spatula,1,6,16.67,3.67,57.87,1,16.67,3.67,57.87,122.212393,69.372204 +latest,Spoon,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,158.658046,84.061723 +latest,Spray Bottle,2,5,40.0,11.81,77.72,2,40.0,11.81,77.72,183.344508,81.301107 +latest,Tissue Paper,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,168.496005,84.459294 +latest,OVERALL,61,125,48.8,40.19,57.48,61,48.8,40.19,57.48,185.840702,117.582346 diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/submission_manifest.json b/pick_msproc/pick_msproc/shards/shard_01/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8587b2f6a6ef9ccefbd796e0d36c1c75438237c6 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/submission_manifest.json @@ -0,0 +1,129 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01", + "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": 0.488, + "success_count": 61.0, + "total_episodes": 125.0, + "avg_episode_length": 271.44, + "oracle_done_rate": 0.488, + "success_rate_pct": 48.8, + "oracle_rate_pct": 48.8 + }, + "stats": { + "total_episodes": 125, + "success_count": 61, + "failure_count": 64, + "success_rate": 0.488, + "avg_episode_length": 271.44, + "min_episode_length": 23, + "max_episode_length": 449, + "num_houses": 83, + "house_success_rates": { + "house_100": 0.0, + "house_105": 0.0, + "house_115": 1.0, + "house_132": 0.0, + "house_140": 1.0, + "house_161": 1.0, + "house_169": 0.5, + "house_184": 0.0, + "house_198": 1.0, + "house_203": 0.6666666666666666, + "house_209": 1.0, + "house_219": 0.0, + "house_231": 0.0, + "house_246": 0.0, + "house_253": 0.5, + "house_264": 0.0, + "house_288": 0.5, + "house_295": 0.0, + "house_312": 0.0, + "house_319": 1.0, + "house_33": 1.0, + "house_332": 0.5, + "house_336": 1.0, + "house_353": 0.0, + "house_364": 0.5, + "house_378": 1.0, + "house_38": 0.5, + "house_381": 0.0, + "house_398": 0.5, + "house_407": 0.0, + "house_428": 0.5, + "house_429": 1.0, + "house_450": 0.5, + "house_452": 1.0, + "house_474": 0.5, + "house_482": 1.0, + "house_49": 0.0, + "house_497": 1.0, + "house_5": 0.0, + "house_514": 0.0, + "house_515": 0.5, + "house_531": 1.0, + "house_542": 1.0, + "house_555": 0.5, + "house_560": 1.0, + "house_577": 1.0, + "house_581": 0.0, + "house_602": 1.0, + "house_610": 0.0, + "house_622": 1.0, + "house_630": 0.5, + "house_644": 0.0, + "house_654": 0.0, + "house_668": 1.0, + "house_676": 0.0, + "house_692": 1.0, + "house_711": 0.0, + "house_72": 0.0, + "house_726": 0.0, + "house_727": 0.5, + "house_746": 1.0, + "house_752": 1.0, + "house_76": 0.0, + "house_771": 0.0, + "house_774": 0.0, + "house_795": 0.0, + "house_809": 0.5, + "house_828": 1.0, + "house_834": 0.5, + "house_848": 0.5, + "house_863": 1.0, + "house_874": 0.0, + "house_889": 0.0, + "house_901": 1.0, + "house_902": 1.0, + "house_91": 0.0, + "house_925": 1.0, + "house_926": 1.0, + "house_945": 1.0, + "house_952": 0.5, + "house_966": 1.0, + "house_971": 0.0, + "house_985": 0.5 + }, + "oracle_done_count": 61, + "oracle_done_rate": 0.488, + "avg_successful_episode_length": 85.14754098360656 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/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 +} diff --git a/pick_msproc/pick_msproc/shards/shard_01/submission/summary.json b/pick_msproc/pick_msproc/shards/shard_01/submission/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..acc22228ac081b1fb8949b89c3a3e44c179c585b --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01/submission/summary.json @@ -0,0 +1,171 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_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/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "exo_camera_1", + "wrist_camera" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.488, + "success_count": 61.0, + "total_episodes": 125.0, + "avg_episode_length": 271.44, + "oracle_done_rate": 0.488, + "success_rate_pct": 48.8, + "oracle_rate_pct": 48.8 + }, + "stats": { + "total_episodes": 125, + "success_count": 61, + "failure_count": 64, + "success_rate": 0.488, + "avg_episode_length": 271.44, + "min_episode_length": 23, + "max_episode_length": 449, + "num_houses": 83, + "house_success_rates": { + "house_100": 0.0, + "house_105": 0.0, + "house_115": 1.0, + "house_132": 0.0, + "house_140": 1.0, + "house_161": 1.0, + "house_169": 0.5, + "house_184": 0.0, + "house_198": 1.0, + "house_203": 0.6666666666666666, + "house_209": 1.0, + "house_219": 0.0, + "house_231": 0.0, + "house_246": 0.0, + "house_253": 0.5, + "house_264": 0.0, + "house_288": 0.5, + "house_295": 0.0, + "house_312": 0.0, + "house_319": 1.0, + "house_33": 1.0, + "house_332": 0.5, + "house_336": 1.0, + "house_353": 0.0, + "house_364": 0.5, + "house_378": 1.0, + "house_38": 0.5, + "house_381": 0.0, + "house_398": 0.5, + "house_407": 0.0, + "house_428": 0.5, + "house_429": 1.0, + "house_450": 0.5, + "house_452": 1.0, + "house_474": 0.5, + "house_482": 1.0, + "house_49": 0.0, + "house_497": 1.0, + "house_5": 0.0, + "house_514": 0.0, + "house_515": 0.5, + "house_531": 1.0, + "house_542": 1.0, + "house_555": 0.5, + "house_560": 1.0, + "house_577": 1.0, + "house_581": 0.0, + "house_602": 1.0, + "house_610": 0.0, + "house_622": 1.0, + "house_630": 0.5, + "house_644": 0.0, + "house_654": 0.0, + "house_668": 1.0, + "house_676": 0.0, + "house_692": 1.0, + "house_711": 0.0, + "house_72": 0.0, + "house_726": 0.0, + "house_727": 0.5, + "house_746": 1.0, + "house_752": 1.0, + "house_76": 0.0, + "house_771": 0.0, + "house_774": 0.0, + "house_795": 0.0, + "house_809": 0.5, + "house_828": 1.0, + "house_834": 0.5, + "house_848": 0.5, + "house_863": 1.0, + "house_874": 0.0, + "house_889": 0.0, + "house_901": 1.0, + "house_902": 1.0, + "house_91": 0.0, + "house_925": 1.0, + "house_926": 1.0, + "house_945": 1.0, + "house_952": 0.5, + "house_966": 1.0, + "house_971": 0.0, + "house_985": 0.5 + }, + "oracle_done_count": 61, + "oracle_done_rate": 0.488, + "avg_successful_episode_length": 85.14754098360656 + }, + "success_count": 61, + "total_count": 125, + "success_rate": 0.488, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 61, + "total": 125, + "success_rate_pct": 48.8, + "ci_95_low_pct": 40.19, + "ci_95_high_pct": 57.48, + "oracle_successes": 61, + "oracle_rate_pct": 48.8, + "oracle_ci_95_low_pct": 40.19, + "oracle_ci_95_high_pct": 57.48, + "jerk_joint_mean": 185.840702, + "jerk_joint_std": 117.582346 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pick_msproc/pick_msproc/shards/shard_03/eval/episode_results.jsonl b/pick_msproc/pick_msproc/shards/shard_03/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b93ab71f077b0f9c08899340e14286e626573c7c --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/eval/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_107", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_107", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cookware", "object_name": "pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_118", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_118", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the square glass pepper shaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_119", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_119/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_137", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 98, "task_description": "Pick up the matte dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_137", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle with black handle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_6", "data_file_path": 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"boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_929/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_93", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark-handled spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_93/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_93", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow knife", "object_name": "knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_93/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_931", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 119, "task_description": "Pick up the transparent soap bottle with bronze pump", "object_name": "soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_931/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_948", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_948/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_958", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth glossy red apple", "object_name": "apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_958/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_958", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the shiny metal ladle with black handle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_958/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_969", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 61, "task_description": "Pick up the dark-handled spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_969", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 83, "task_description": "Pick up the green ladle with handle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_979", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy beige ceramic mug with handle", "object_name": "mug_38903e9f02926f380b587d1b9de9c00b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_979/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/shards/shard_03/eval/eval.log b/pick_msproc/pick_msproc/shards/shard_03/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..86dad4499f7f40112899efac65628202dcdd3d1c --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/eval/eval.log @@ -0,0 +1,2943 @@ +[2026-05-24 15:59:54,373] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,538] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,568] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 (source=arg) +[2026-05-24 15:59:56,725] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,184] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,412] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,413] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,900] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,954] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,992] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + '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': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 26, + 39, + 51, + 57, + 78, + 79, + 93, + 107, + 118, + 119, + 137, + 148, + 163, + 171, + 186, + 206, + 218, + 228, + 237, + 251, + 265, + 271, + 293, + 297, + 316, + 322, + 338, + 339, + 357, + 368, + 384, + 388, + 403, + 411, + 431, + 433, + 459, + 461, + 484, + 485, + 500, + 520, + 526, + 538, + 546, + 559, + 564, + 579, + 584, + 607, + 613, + 627, + 635, + 652, + 660, + 674, + 681, + 696, + 718, + 729, + 735, + 751, + 756, + 779, + 780, + 802, + 817, + 833, + 836, + 853, + 873, + 878, + 893, + 906, + 907, + 929, + 931, + 948, + 958, + 969, + 979, + 991], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,996] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,184:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,184] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 0/2 collected=0/2 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.320 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:53,874] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:54,304] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:00,094] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:09,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:09,205] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 16:07:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 16:07:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 1/2 collected=1/2 +[05/24 16:07:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 16:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4: 2 episodes +[05/24 16:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:07:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4: 1/2 successful episodes +[05/24 16:07:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 26 (index 1/83) +[05/24 16:07:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 26 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:07:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:07:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 0/2 collected=0/2 +[05/24 16:07:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup' +[05/24 16:09:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 1/2 collected=1/2 +[05/24 16:09:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_6 completed with success=True +[05/24 16:10:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_26: 2 episodes +[05/24 16:10:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 382 timesteps +[05/24 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_26 in 3.60s (batch: 3.45s, save: 0.15s) +[05/24 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 26: 1/2 successful episodes +[05/24 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 39 (index 2/83) +[05/24 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 39 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_39_ceiling.xml +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=39, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:10:31 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 16:10:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 39 episode 0/1 collected=0/2 +[05/24 16:10:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 39 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:11:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_39: 1 episodes +[05/24 16:11:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_39 in 2.53s (batch: 2.42s, save: 0.11s) +[05/24 16:12:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 39: 0/1 successful episodes +[05/24 16:12:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 51 (index 3/83) +[05/24 16:12:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 51 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:12:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_51_ceiling.xml +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=51, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:12:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 51 episode 0/1 collected=0/2 +[05/24 16:12:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 51 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:13:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_51: 1 episodes +[05/24 16:13:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_51 in 2.52s (batch: 2.42s, save: 0.10s) +[05/24 16:13:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 51: 0/1 successful episodes +[05/24 16:13:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 57 (index 4/83) +[05/24 16:13:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 57 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:13:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 0/2 collected=0/2 +[05/24 16:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:13:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 1/2 collected=1/2 +[05/24 16:13:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 1 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_6 completed with success=False +[05/24 16:14:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_57: 2 episodes +[05/24 16:14:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_57 in 3.51s (batch: 3.41s, save: 0.11s) +[05/24 16:15:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 57: 1/2 successful episodes +[05/24 16:15:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 78 (index 5/83) +[05/24 16:15:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 78 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:15:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_78_ceiling.xml +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=78, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:15:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 78 episode 0/1 collected=0/2 +[05/24 16:15:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 78 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:16:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_78: 1 episodes +[05/24 16:16:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_78 in 1.86s (batch: 1.77s, save: 0.10s) +[05/24 16:16:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 78: 0/1 successful episodes +[05/24 16:16:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 79 (index 6/83) +[05/24 16:16:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 79 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:16:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 0/2 collected=0/2 +[05/24 16:16:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:16:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:16:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 1/2 collected=1/2 +[05/24 16:16:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_3_0_2 completed with success=False +[05/24 16:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_79: 2 episodes +[05/24 16:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_79 +[05/24 16:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_79 in 3.57s (batch: 3.46s, save: 0.11s) +[05/24 16:18:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_79 +[05/24 16:18:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 79: 1/2 successful episodes +[05/24 16:18:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 93 (index 7/83) +[05/24 16:18:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 93 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:18:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:18:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 0/2 collected=0/2 +[05/24 16:18:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:20:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:20:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 1/2 collected=1/2 +[05/24 16:20:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_93: 2 episodes +[05/24 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_93 +[05/24 16:21:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_93 in 5.32s (batch: 5.13s, save: 0.20s) +[05/24 16:21:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_93 +[05/24 16:21:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 93: 0/2 successful episodes +[05/24 16:21:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 107 (index 8/83) +[05/24 16:21:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:21:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:21:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 0/2 collected=0/2 +[05/24 16:21:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 16:21:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 16:21:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 1/2 collected=1/2 +[05/24 16:21:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 16:22:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_107: 2 episodes +[05/24 16:22:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_107 in 4.77s (batch: 4.66s, save: 0.11s) +[05/24 16:23:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 107: 1/2 successful episodes +[05/24 16:23:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 118 (index 9/83) +[05/24 16:23:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:23:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:23:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 0/2 collected=0/2 +[05/24 16:23:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:24:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 16:24:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 1/2 collected=1/2 +[05/24 16:24:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:24:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_118: 2 episodes +[05/24 16:24:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_118 in 4.66s (batch: 4.55s, save: 0.11s) +[05/24 16:24:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 118: 1/2 successful episodes +[05/24 16:24:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 119 (index 10/83) +[05/24 16:24:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 119 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:24:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_119_ceiling.xml +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=119, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:24:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 119 episode 0/1 collected=0/2 +[05/24 16:24:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 119 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=False +[05/24 16:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_119: 1 episodes +[05/24 16:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_119 in 2.55s (batch: 2.46s, save: 0.09s) +[05/24 16:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 119: 0/1 successful episodes +[05/24 16:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 137 (index 11/83) +[05/24 16:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 137 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:26:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 0/2 collected=0/2 +[05/24 16:26:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:26:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:26:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 1/2 collected=1/2 +[05/24 16:26:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:28:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_137: 2 episodes +[05/24 16:28:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 100 timesteps +[05/24 16:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_137 in 3.63s (batch: 3.50s, save: 0.13s) +[05/24 16:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 137: 1/2 successful episodes +[05/24 16:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 148 (index 12/83) +[05/24 16:28:14 Worker 0 INFO json_eval_runner.py:278] 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/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_148_ceiling.xml +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=148, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:28:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 148 episode 0/1 collected=0/2 +[05/24 16:28:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 148 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_148: 1 episodes +[05/24 16:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_148 +[05/24 16:29:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_148 in 2.47s (batch: 2.37s, save: 0.10s) +[05/24 16:29:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_148 +[05/24 16:29:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 148: 0/1 successful episodes +[05/24 16:29:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 163 (index 13/83) +[05/24 16:29:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:29:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_163_ceiling.xml +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=163, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 163 episode 0/1 collected=0/2 +[05/24 16:29:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 163 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=True +[05/24 16:29:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_163: 1 episodes +[05/24 16:29:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:29:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_163 +[05/24 16:29:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_163 in 2.32s (batch: 2.19s, save: 0.12s) +[05/24 16:30:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_163 +[05/24 16:30:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 163: 1/1 successful episodes +[05/24 16:30:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 171 (index 14/83) +[05/24 16:30:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:30:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:30:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 0/2 collected=0/2 +[05/24 16:30:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:31:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:31:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 1/2 collected=1/2 +[05/24 16:31:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_171: 2 episodes +[05/24 16:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 301 timesteps +[05/24 16:32:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_171 in 5.03s (batch: 4.88s, save: 0.15s) +[05/24 16:32:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 171: 1/2 successful episodes +[05/24 16:32:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 186 (index 15/83) +[05/24 16:32:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:32:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_186_ceiling.xml +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=186, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:32:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 186 episode 0/1 collected=0/2 +[05/24 16:32:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 186 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 16:34:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_186: 1 episodes +[05/24 16:34:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_186 in 1.90s (batch: 1.81s, save: 0.09s) +[05/24 16:34:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 186: 0/1 successful episodes +[05/24 16:34:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 206 (index 16/83) +[05/24 16:34:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:34:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_206_ceiling.xml +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=206, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:34:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 206 episode 0/1 collected=0/2 +[05/24 16:34:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 206 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:35:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_206: 1 episodes +[05/24 16:35:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:35:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_206 +[05/24 16:35:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_206 in 1.63s (batch: 1.60s, save: 0.03s) +[05/24 16:35:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_206 +[05/24 16:35:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 206: 1/1 successful episodes +[05/24 16:35:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 218 (index 17/83) +[05/24 16:35:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:35:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 0/2 collected=0/2 +[05/24 16:35:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:35:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 16:35:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 1/2 collected=1/2 +[05/24 16:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 1 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 16:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_218: 2 episodes +[05/24 16:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:35:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_218 in 4.31s (batch: 4.26s, save: 0.05s) +[05/24 16:35:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 218: 2/2 successful episodes +[05/24 16:35:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 228 (index 18/83) +[05/24 16:35:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_228_ceiling.xml +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=228, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:35:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 228 episode 0/1 collected=0/2 +[05/24 16:35:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 228 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:36:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_228: 1 episodes +[05/24 16:36:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_228 +[05/24 16:36:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_228 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 16:36:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_228 +[05/24 16:36:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 228: 0/1 successful episodes +[05/24 16:36:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 237 (index 19/83) +[05/24 16:36:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:36:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:37:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 0/2 collected=0/2 +[05/24 16:37:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:38:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 1/2 collected=1/2 +[05/24 16:38:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:39:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_237: 2 episodes +[05/24 16:39:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_237 in 5.03s (batch: 4.86s, save: 0.17s) +[05/24 16:39:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 237: 0/2 successful episodes +[05/24 16:39:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 251 (index 20/83) +[05/24 16:39:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 251 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:39:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_251_ceiling.xml +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=251, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tableware' +[05/24 16:39:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 251 episode 0/1 collected=0/2 +[05/24 16:39:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 251 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_6 completed with success=False +[05/24 16:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_251: 1 episodes +[05/24 16:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_251 in 1.82s (batch: 1.73s, save: 0.08s) +[05/24 16:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 251: 0/1 successful episodes +[05/24 16:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 265 (index 21/83) +[05/24 16:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:41:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:41:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 0/2 collected=0/2 +[05/24 16:41:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:41:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium red apple' +[05/24 16:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 1/2 collected=1/2 +[05/24 16:41:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=False +[05/24 16:42:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_265: 2 episodes +[05/24 16:42:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_265 +[05/24 16:42:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_265 in 3.62s (batch: 3.51s, save: 0.11s) +[05/24 16:42:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_265 +[05/24 16:42:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 265: 1/2 successful episodes +[05/24 16:42:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 271 (index 22/83) +[05/24 16:42:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_271_ceiling.xml +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=271, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:42:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 271 episode 0/1 collected=0/2 +[05/24 16:42:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 271 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_271: 1 episodes +[05/24 16:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_271 +[05/24 16:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_271 in 1.55s (batch: 1.52s, save: 0.03s) +[05/24 16:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_271 +[05/24 16:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 271: 1/1 successful episodes +[05/24 16:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 293 (index 23/83) +[05/24 16:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:42:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 0/2 collected=0/2 +[05/24 16:42:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 16:44:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:44:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 1/2 collected=1/2 +[05/24 16:44:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:45:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_293: 2 episodes +[05/24 16:45:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_293 +[05/24 16:45:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_293 in 5.05s (batch: 4.88s, save: 0.17s) +[05/24 16:45:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_293 +[05/24 16:45:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 293: 0/2 successful episodes +[05/24 16:45:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 297 (index 24/83) +[05/24 16:45:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:45:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_297_ceiling.xml +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=297, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cup' +[05/24 16:45:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 297 episode 0/1 collected=0/2 +[05/24 16:45:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 297 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_6 completed with success=True +[05/24 16:46:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_297: 1 episodes +[05/24 16:46:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:46:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_297 +[05/24 16:46:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_297 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 16:46:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_297 +[05/24 16:46:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 297: 1/1 successful episodes +[05/24 16:46:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 316 (index 25/83) +[05/24 16:46:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:46:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:46:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 0/2 collected=0/2 +[05/24 16:46:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:47:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:47:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 1/2 collected=1/2 +[05/24 16:47:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:48:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_316: 2 episodes +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_316 +[05/24 16:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_316 in 4.74s (batch: 4.57s, save: 0.17s) +[05/24 16:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_316 +[05/24 16:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 316: 0/2 successful episodes +[05/24 16:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 322 (index 26/83) +[05/24 16:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_322_ceiling.xml +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=322, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:48:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 322 episode 0/1 collected=0/2 +[05/24 16:48:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 322 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:49:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_322: 1 episodes +[05/24 16:49:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:49:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_322 +[05/24 16:49:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_322 in 2.17s (batch: 2.14s, save: 0.03s) +[05/24 16:49:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_322 +[05/24 16:49:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 322: 1/1 successful episodes +[05/24 16:49:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 338 (index 27/83) +[05/24 16:49:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_338_ceiling.xml +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=338, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:49:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 338 episode 0/1 collected=0/2 +[05/24 16:49:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 338 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 16:49:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_338: 1 episodes +[05/24 16:49:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:49:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_338 in 2.23s (batch: 2.19s, save: 0.04s) +[05/24 16:49:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 338: 1/1 successful episodes +[05/24 16:49:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 339 (index 28/83) +[05/24 16:49:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:49:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 0/2 collected=0/2 +[05/24 16:49:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:51:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:51:21 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentality' +[05/24 16:51:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 1/2 collected=1/2 +[05/24 16:51:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_5 completed with success=True +[05/24 16:51:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_339: 2 episodes +[05/24 16:51:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 37 timesteps +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_339 in 3.39s (batch: 3.28s, save: 0.11s) +[05/24 16:51:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 339: 1/2 successful episodes +[05/24 16:51:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 357 (index 29/83) +[05/24 16:51:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_357_ceiling.xml +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=357, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:51:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 357 episode 0/1 collected=0/2 +[05/24 16:51:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 357 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:51:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_357: 1 episodes +[05/24 16:51:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:51:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_357 +[05/24 16:51:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_357 in 2.26s (batch: 2.20s, save: 0.06s) +[05/24 16:51:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_357 +[05/24 16:51:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 357: 1/1 successful episodes +[05/24 16:51:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 368 (index 30/83) +[05/24 16:51:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:52:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 0/2 collected=0/2 +[05/24 16:52:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 16:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:54:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 1/2 collected=1/2 +[05/24 16:54:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_11 completed with success=True +[05/24 16:54:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_368: 2 episodes +[05/24 16:54:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_368 in 3.42s (batch: 3.30s, save: 0.13s) +[05/24 16:54:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 368: 1/2 successful episodes +[05/24 16:54:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 384 (index 31/83) +[05/24 16:54:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:54:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:54:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:54:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 0/2 collected=0/2 +[05/24 16:54:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 16:55:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue translucent soap bottle with pump' +[05/24 16:56:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 1/2 collected=1/2 +[05/24 16:56:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_6 completed with success=True +[05/24 16:56:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_384: 2 episodes +[05/24 16:56:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 222 timesteps +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_384 in 3.53s (batch: 3.40s, save: 0.14s) +[05/24 16:56:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 384: 1/2 successful episodes +[05/24 16:56:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 388 (index 32/83) +[05/24 16:56:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:56:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_388_ceiling.xml +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=388, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 16:56:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 388 episode 0/1 collected=0/2 +[05/24 16:56:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 388 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 16:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_388: 1 episodes +[05/24 16:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:57:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_388 in 2.15s (batch: 2.12s, save: 0.03s) +[05/24 16:57:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 388: 1/1 successful episodes +[05/24 16:57:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 403 (index 33/83) +[05/24 16:57:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:57:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:57:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 0/2 collected=0/2 +[05/24 16:57:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_5 completed with success=True +[05/24 16:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 1/2 collected=1/2 +[05/24 16:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_3_0_8 completed with success=True +[05/24 16:58:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_403: 2 episodes +[05/24 16:58:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 160 timesteps +[05/24 16:58:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_403 +[05/24 16:58:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_403 in 4.45s (batch: 4.37s, save: 0.08s) +[05/24 16:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_403 +[05/24 16:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 403: 2/2 successful episodes +[05/24 16:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 411 (index 34/83) +[05/24 16:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_411_ceiling.xml +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=411, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 411 episode 0/1 collected=0/2 +[05/24 16:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 411 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 16:58:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_411: 1 episodes +[05/24 16:58:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:58:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_411 +[05/24 16:58:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_411 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 16:58:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_411 +[05/24 16:58:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 411: 1/1 successful episodes +[05/24 16:58:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 431 (index 35/83) +[05/24 16:58:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_431_ceiling.xml +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=431, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:58:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 431 episode 0/1 collected=0/2 +[05/24 16:58:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 431 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_431: 1 episodes +[05/24 16:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 16:59:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_431 +[05/24 16:59:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_431 in 2.25s (batch: 2.21s, save: 0.04s) +[05/24 16:59:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_431 +[05/24 16:59:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 431: 1/1 successful episodes +[05/24 16:59:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 433 (index 36/83) +[05/24 16:59:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:59:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:59:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 0/2 collected=0/2 +[05/24 16:59:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:00:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:00:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 1/2 collected=1/2 +[05/24 17:00:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:00:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_433: 2 episodes +[05/24 17:00:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_433 in 4.59s (batch: 4.47s, save: 0.12s) +[05/24 17:00:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 433: 1/2 successful episodes +[05/24 17:00:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 459 (index 37/83) +[05/24 17:00:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:00:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_459_ceiling.xml +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=459, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:00:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 459 episode 0/1 collected=0/2 +[05/24 17:00:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 459 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=False +[05/24 17:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_459: 1 episodes +[05/24 17:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_459 in 2.62s (batch: 2.53s, save: 0.09s) +[05/24 17:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 459: 0/1 successful episodes +[05/24 17:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 461 (index 38/83) +[05/24 17:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 461 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:02:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 0/2 collected=0/2 +[05/24 17:02:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:02:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 1/2 collected=1/2 +[05/24 17:02:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 17:03:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_461: 2 episodes +[05/24 17:03:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 17:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_461 in 4.42s (batch: 4.34s, save: 0.08s) +[05/24 17:03:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 461: 2/2 successful episodes +[05/24 17:03:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 484 (index 39/83) +[05/24 17:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_484_ceiling.xml +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:03:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 484 episode 0/1 collected=0/2 +[05/24 17:03:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 484 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:03:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_484: 1 episodes +[05/24 17:03:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 229 timesteps +[05/24 17:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_484 in 1.68s (batch: 1.63s, save: 0.06s) +[05/24 17:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 484: 1/1 successful episodes +[05/24 17:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 485 (index 40/83) +[05/24 17:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:04:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 0/2 collected=0/2 +[05/24 17:04:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 17:04:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:04:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 1/2 collected=1/2 +[05/24 17:04:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=True +[05/24 17:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_485: 2 episodes +[05/24 17:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:04:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 66 timesteps +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_485 in 4.37s (batch: 4.31s, save: 0.06s) +[05/24 17:04:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 485: 2/2 successful episodes +[05/24 17:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 500 (index 41/83) +[05/24 17:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_500_ceiling.xml +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=500, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:04:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 500 episode 0/1 collected=0/2 +[05/24 17:04:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 500 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_500: 1 episodes +[05/24 17:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_500 in 2.52s (batch: 2.43s, save: 0.09s) +[05/24 17:06:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 500: 0/1 successful episodes +[05/24 17:06:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 520 (index 42/83) +[05/24 17:06:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 520 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_520_ceiling.xml +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=520, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:06:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 520 episode 0/1 collected=0/2 +[05/24 17:06:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 520 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:06:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_520: 1 episodes +[05/24 17:06:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:06:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_520 +[05/24 17:06:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_520 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:06:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_520 +[05/24 17:06:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 520: 1/1 successful episodes +[05/24 17:06:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 526 (index 43/83) +[05/24 17:06:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 526 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:06:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 0/2 collected=0/2 +[05/24 17:06:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=True +[05/24 17:06:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:06:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 1/2 collected=1/2 +[05/24 17:06:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 17:08:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_526: 2 episodes +[05/24 17:08:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 109 timesteps +[05/24 17:08:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_526 +[05/24 17:08:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_526 in 4.66s (batch: 4.54s, save: 0.12s) +[05/24 17:08:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_526 +[05/24 17:08:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 526: 1/2 successful episodes +[05/24 17:08:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 538 (index 44/83) +[05/24 17:08:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:08:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_538_ceiling.xml +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=538, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:08:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 538 episode 0/1 collected=0/2 +[05/24 17:08:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 538 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=True +[05/24 17:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_538: 1 episodes +[05/24 17:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 390 timesteps +[05/24 17:09:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_538 in 1.83s (batch: 1.75s, save: 0.08s) +[05/24 17:09:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 538: 1/1 successful episodes +[05/24 17:09:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 546 (index 45/83) +[05/24 17:09:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:09:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:09:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 0/2 collected=0/2 +[05/24 17:09:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 17:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bowl' +[05/24 17:10:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 1/2 collected=1/2 +[05/24 17:10:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_6 completed with success=False +[05/24 17:11:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_546: 2 episodes +[05/24 17:11:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:11:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_546 +[05/24 17:11:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_546 in 4.61s (batch: 4.49s, save: 0.12s) +[05/24 17:11:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_546 +[05/24 17:11:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 546: 1/2 successful episodes +[05/24 17:11:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 559 (index 46/83) +[05/24 17:11:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:11:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 0/2 collected=0/2 +[05/24 17:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 1/2 collected=1/2 +[05/24 17:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 17:14:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_559: 2 episodes +[05/24 17:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_559 +[05/24 17:14:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_559 in 3.74s (batch: 3.58s, save: 0.17s) +[05/24 17:14:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_559 +[05/24 17:14:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 559: 0/2 successful episodes +[05/24 17:14:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 564 (index 47/83) +[05/24 17:14:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 564 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:14:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_564_ceiling.xml +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=564, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife' +[05/24 17:14:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 564 episode 0/1 collected=0/2 +[05/24 17:14:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 564 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=True +[05/24 17:15:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_564: 1 episodes +[05/24 17:15:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:15:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_564 +[05/24 17:15:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_564 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:15:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_564 +[05/24 17:15:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 564: 1/1 successful episodes +[05/24 17:15:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 48/83) +[05/24 17:15:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:15:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:15:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 0/2 collected=0/2 +[05/24 17:15:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 17:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:15:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 1/2 collected=1/2 +[05/24 17:15:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_3_0_6 completed with success=False +[05/24 17:17:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 2 episodes +[05/24 17:17:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:17:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_579 +[05/24 17:17:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 3.55s (batch: 3.44s, save: 0.11s) +[05/24 17:17:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/24 17:17:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 1/2 successful episodes +[05/24 17:17:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 584 (index 49/83) +[05/24 17:17:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_584_ceiling.xml +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=584, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shallow wooden bowl' +[05/24 17:17:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 584 episode 0/1 collected=0/2 +[05/24 17:17:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 584 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 17:17:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_584: 1 episodes +[05/24 17:17:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/24 17:17:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_584 +[05/24 17:17:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_584 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:17:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_584 +[05/24 17:17:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 584: 1/1 successful episodes +[05/24 17:17:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 607 (index 50/83) +[05/24 17:17:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_607_ceiling.xml +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=607, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:17:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 607 episode 0/1 collected=0/2 +[05/24 17:17:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 607 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 17:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_607: 1 episodes +[05/24 17:19:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_607 +[05/24 17:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_607 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_607 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 607: 0/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 613 (index 51/83) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 0/2 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:20:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:20:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 1/2 collected=1/2 +[05/24 17:20:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:22:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_613: 2 episodes +[05/24 17:22:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_613 in 5.07s (batch: 4.90s, save: 0.17s) +[05/24 17:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 613: 0/2 successful episodes +[05/24 17:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 627 (index 52/83) +[05/24 17:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_627_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=627, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 627 episode 0/1 collected=0/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 627 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 17:23:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_627: 1 episodes +[05/24 17:23:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_627 in 2.48s (batch: 2.39s, save: 0.09s) +[05/24 17:23:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 627: 0/1 successful episodes +[05/24 17:23:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 53/83) +[05/24 17:23:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:23:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:23:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 0/2 collected=0/2 +[05/24 17:23:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 17:24:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 1/2 collected=1/2 +[05/24 17:24:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=True +[05/24 17:24:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 2 episodes +[05/24 17:24:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_635 +[05/24 17:24:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 3.85s (batch: 3.79s, save: 0.06s) +[05/24 17:24:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/24 17:24:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 2/2 successful episodes +[05/24 17:24:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 652 (index 54/83) +[05/24 17:24:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:24:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 0/2 collected=0/2 +[05/24 17:24:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:25:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:25:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 1/2 collected=1/2 +[05/24 17:25:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 17:26:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_652: 2 episodes +[05/24 17:26:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_652 in 3.44s (batch: 3.31s, save: 0.13s) +[05/24 17:26:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 652: 1/2 successful episodes +[05/24 17:26:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 660 (index 55/83) +[05/24 17:26:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_660_ceiling.xml +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=660, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:26:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 660 episode 0/1 collected=0/2 +[05/24 17:26:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 660 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:26:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_660: 1 episodes +[05/24 17:26:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 142 timesteps +[05/24 17:26:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_660 in 1.63s (batch: 1.59s, save: 0.04s) +[05/24 17:26:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 660: 1/1 successful episodes +[05/24 17:26:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 674 (index 56/83) +[05/24 17:26:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 674 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_674_ceiling.xml +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=674, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:26:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 674 episode 0/1 collected=0/2 +[05/24 17:26:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 674 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_2_0_5 completed with success=True +[05/24 17:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_674: 1 episodes +[05/24 17:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_674 in 1.56s (batch: 1.53s, save: 0.03s) +[05/24 17:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 674: 1/1 successful episodes +[05/24 17:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 681 (index 57/83) +[05/24 17:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:27:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 0/2 collected=0/2 +[05/24 17:27:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:27:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 17:27:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 1/2 collected=1/2 +[05/24 17:27:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8 completed with success=True +[05/24 17:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_681: 2 episodes +[05/24 17:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 129 timesteps +[05/24 17:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_681 +[05/24 17:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_681 in 4.46s (batch: 4.39s, save: 0.07s) +[05/24 17:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_681 +[05/24 17:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 681: 2/2 successful episodes +[05/24 17:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 696 (index 58/83) +[05/24 17:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_696_ceiling.xml +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=696, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:28:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 696 episode 0/1 collected=0/2 +[05/24 17:28:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 696 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=True +[05/24 17:28:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_696: 1 episodes +[05/24 17:28:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_696 in 2.23s (batch: 2.21s, save: 0.03s) +[05/24 17:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 696: 1/1 successful episodes +[05/24 17:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 718 (index 59/83) +[05/24 17:28:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_718_ceiling.xml +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=718, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:28:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 718 episode 0/1 collected=0/2 +[05/24 17:28:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 718 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:29:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_718: 1 episodes +[05/24 17:29:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 268 timesteps +[05/24 17:29:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_718 +[05/24 17:29:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_718 in 2.31s (batch: 2.25s, save: 0.06s) +[05/24 17:29:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_718 +[05/24 17:29:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 718: 1/1 successful episodes +[05/24 17:29:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 60/83) +[05/24 17:29:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 0/2 collected=0/2 +[05/24 17:29:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 1/2 collected=1/2 +[05/24 17:29:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:29:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 2 episodes +[05/24 17:29:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:29:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_729 +[05/24 17:29:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 3.16s (batch: 3.10s, save: 0.06s) +[05/24 17:29:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/24 17:29:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 2/2 successful episodes +[05/24 17:29:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 735 (index 61/83) +[05/24 17:29:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_735_ceiling.xml +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=735, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:29:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 735 episode 0/1 collected=0/2 +[05/24 17:29:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 735 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_735: 1 episodes +[05/24 17:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_735 in 1.87s (batch: 1.78s, save: 0.09s) +[05/24 17:30:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 735: 0/1 successful episodes +[05/24 17:30:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 751 (index 62/83) +[05/24 17:30:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:30:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 17:31:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 0/2 collected=0/2 +[05/24 17:31:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 17:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:32:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 1/2 collected=1/2 +[05/24 17:32:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_751: 2 episodes +[05/24 17:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_751 in 4.76s (batch: 4.59s, save: 0.17s) +[05/24 17:33:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 751: 0/2 successful episodes +[05/24 17:33:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 756 (index 63/83) +[05/24 17:33:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 756 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:33:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_756_ceiling.xml +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=756, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:33:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 756 episode 0/1 collected=0/2 +[05/24 17:33:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 756 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:35:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_756: 1 episodes +[05/24 17:35:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_756 +[05/24 17:35:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_756 in 2.46s (batch: 2.36s, save: 0.09s) +[05/24 17:35:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_756 +[05/24 17:35:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 756: 0/1 successful episodes +[05/24 17:35:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 779 (index 64/83) +[05/24 17:35:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 779 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_779_ceiling.xml +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=779, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:35:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 779 episode 0/1 collected=0/2 +[05/24 17:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 779 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_4 completed with success=True +[05/24 17:35:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_779: 1 episodes +[05/24 17:35:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 17:35:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_779 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:35:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 779: 1/1 successful episodes +[05/24 17:35:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 780 (index 65/83) +[05/24 17:35:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 780 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:35:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 0/2 collected=0/2 +[05/24 17:35:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:35:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:35:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 1/2 collected=1/2 +[05/24 17:35:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_780: 2 episodes +[05/24 17:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:37:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_780 in 3.59s (batch: 3.49s, save: 0.11s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 780: 1/2 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 802 (index 66/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_802_ceiling.xml +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=802, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:37:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 802 episode 0/1 collected=0/2 +[05/24 17:37:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 802 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:37:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_802: 1 episodes +[05/24 17:37:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:37:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_802 in 2.32s (batch: 2.24s, save: 0.08s) +[05/24 17:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 802: 1/1 successful episodes +[05/24 17:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 817 (index 67/83) +[05/24 17:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 817 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:37:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 0/2 collected=0/2 +[05/24 17:37:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:38:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:38:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 1/2 collected=1/2 +[05/24 17:38:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:39:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_817: 2 episodes +[05/24 17:39:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_817 +[05/24 17:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_817 in 4.12s (batch: 3.95s, save: 0.16s) +[05/24 17:40:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_817 +[05/24 17:40:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 817: 0/2 successful episodes +[05/24 17:40:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 833 (index 68/83) +[05/24 17:40:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:40:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_833_ceiling.xml +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=833, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 17:40:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 833 episode 0/1 collected=0/2 +[05/24 17:40:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 833 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_3 completed with success=False +[05/24 17:41:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_833: 1 episodes +[05/24 17:41:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_833 in 1.78s (batch: 1.70s, save: 0.08s) +[05/24 17:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 833: 0/1 successful episodes +[05/24 17:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 836 (index 69/83) +[05/24 17:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:41:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 0/2 collected=0/2 +[05/24 17:41:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:41:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dish' +[05/24 17:42:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 1/2 collected=1/2 +[05/24 17:42:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 17:43:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_836: 2 episodes +[05/24 17:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_836 in 4.71s (batch: 4.59s, save: 0.12s) +[05/24 17:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 836: 1/2 successful episodes +[05/24 17:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 70/83) +[05/24 17:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 0/2 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:44:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:44:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 1/2 collected=1/2 +[05/24 17:44:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=False +[05/24 17:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 2 episodes +[05/24 17:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_853 +[05/24 17:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 4.94s (batch: 4.76s, save: 0.18s) +[05/24 17:46:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/24 17:46:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/2 successful episodes +[05/24 17:46:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 873 (index 71/83) +[05/24 17:46:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_873_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=873, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 873 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 873 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 17:46:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_873: 1 episodes +[05/24 17:46:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:46:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_873 +[05/24 17:46:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_873 in 1.58s (batch: 1.55s, save: 0.03s) +[05/24 17:46:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_873 +[05/24 17:46:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 873: 1/1 successful episodes +[05/24 17:46:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 878 (index 72/83) +[05/24 17:46:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:46:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 0/2 collected=0/2 +[05/24 17:46:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_4 completed with success=True +[05/24 17:46:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:46:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 1/2 collected=1/2 +[05/24 17:46:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:47:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_878: 2 episodes +[05/24 17:47:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:48:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_878 +[05/24 17:48:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_878 in 4.67s (batch: 4.56s, save: 0.11s) +[05/24 17:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_878 +[05/24 17:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 878: 1/2 successful episodes +[05/24 17:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 893 (index 73/83) +[05/24 17:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 893 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 0/2 collected=0/2 +[05/24 17:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:48:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:48:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 1/2 collected=1/2 +[05/24 17:48:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 17:48:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_893: 2 episodes +[05/24 17:48:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/24 17:48:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_893 +[05/24 17:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_893 in 4.42s (batch: 4.35s, save: 0.06s) +[05/24 17:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_893 +[05/24 17:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 893: 2/2 successful episodes +[05/24 17:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 906 (index 74/83) +[05/24 17:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 906 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_906_ceiling.xml +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=906, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow bowl' +[05/24 17:48:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 906 episode 0/1 collected=0/2 +[05/24 17:48:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 906 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_7 completed with success=True +[05/24 17:49:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_906: 1 episodes +[05/24 17:49:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_906 +[05/24 17:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_906 in 2.18s (batch: 2.15s, save: 0.03s) +[05/24 17:49:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_906 +[05/24 17:49:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 906: 1/1 successful episodes +[05/24 17:49:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 907 (index 75/83) +[05/24 17:49:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:49:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork' +[05/24 17:49:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 0/2 collected=0/2 +[05/24 17:49:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 17:50:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 1/2 collected=1/2 +[05/24 17:50:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 17:52:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_907: 2 episodes +[05/24 17:52:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_907 in 3.89s (batch: 3.72s, save: 0.17s) +[05/24 17:52:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 907: 0/2 successful episodes +[05/24 17:52:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 929 (index 76/83) +[05/24 17:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:52:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 0/2 collected=0/2 +[05/24 17:52:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=True +[05/24 17:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:52:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 1/2 collected=1/2 +[05/24 17:52:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:53:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_929: 2 episodes +[05/24 17:53:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:53:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_929 +[05/24 17:54:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_929 in 3.54s (batch: 3.42s, save: 0.12s) +[05/24 17:54:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_929 +[05/24 17:54:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 929: 1/2 successful episodes +[05/24 17:54:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 931 (index 77/83) +[05/24 17:54:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 931 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_931_ceiling.xml +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=931, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 17:54:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 931 episode 0/1 collected=0/2 +[05/24 17:54:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 931 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6 completed with success=True +[05/24 17:54:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_931: 1 episodes +[05/24 17:54:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:54:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_931 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:54:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 931: 1/1 successful episodes +[05/24 17:54:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 948 (index 78/83) +[05/24 17:54:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_948_ceiling.xml +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=948, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:54:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 948 episode 0/1 collected=0/2 +[05/24 17:54:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 948 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:55:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_948: 1 episodes +[05/24 17:55:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_948 +[05/24 17:55:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_948 in 1.82s (batch: 1.74s, save: 0.08s) +[05/24 17:55:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_948 +[05/24 17:55:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 948: 0/1 successful episodes +[05/24 17:55:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 958 (index 79/83) +[05/24 17:55:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:55:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:55:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 0/2 collected=0/2 +[05/24 17:55:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:57:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 1/2 collected=1/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:57:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_958: 2 episodes +[05/24 17:57:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_958 +[05/24 17:57:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_958 in 4.56s (batch: 4.45s, save: 0.11s) +[05/24 17:57:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_958 +[05/24 17:57:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 958: 1/2 successful episodes +[05/24 17:57:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 969 (index 80/83) +[05/24 17:57:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:57:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 0/2 collected=0/2 +[05/24 17:57:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:58:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 17:58:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 1/2 collected=1/2 +[05/24 17:58:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_969: 2 episodes +[05/24 17:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:58:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 85 timesteps +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_969 in 3.24s (batch: 3.17s, save: 0.06s) +[05/24 17:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 969: 2/2 successful episodes +[05/24 17:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 979 (index 81/83) +[05/24 17:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 979 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_979_ceiling.xml +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=979, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 979 episode 0/1 collected=0/2 +[05/24 17:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 979 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=False +[05/24 18:00:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_979: 1 episodes +[05/24 18:00:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_979 in 1.85s (batch: 1.75s, save: 0.10s) +[05/24 18:00:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 979: 0/1 successful episodes +[05/24 18:00:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 991 (index 82/83) +[05/24 18:00:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 18:00:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 18:00:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 0/2 collected=0/2 +[05/24 18:00:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11 completed with success=False +[05/24 18:01:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:01:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 1/2 collected=1/2 +[05/24 18:01:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 18:03:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_991: 2 episodes +[05/24 18:03:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_991 in 4.89s (batch: 4.71s, save: 0.18s) +[05/24 18:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 991: 0/2 successful episodes +[05/24 18:03:19 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:03:20 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:03:20 INFO pipeline.py:1499] Success count: 64, Total count: 125 +[05/24 18:03:20 INFO pipeline.py:1500] Success rate: 51.20% +Combined 125 episodes from 83 files → /tmp/tmp4_vydajs.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv at-end: 51.2% | oracle: 51.2% of 125 episodes +[2026-05-24 18:03:28,862] INFO MolmoSpaces simulator eval finished: success=64/125 rate=0.5120 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval +[2026-05-24 18:03:28,862] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv diff --git a/pick_msproc/pick_msproc/shards/shard_03/eval/eval_meta.json b/pick_msproc/pick_msproc/shards/shard_03/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15b391d3e85b6a7484c23b8f7cd157062c7675a4 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv" +} diff --git a/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv b/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2ff5bb6379cedd5eea710701fcdfee6d6f19cee1 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,203.550957,93.038352 +latest,Bowl,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,201.423237,82.221904 +latest,Box,6,7,85.71,47.35,96.81,6,85.71,47.35,96.81,221.383783,131.139923 +latest,Cup,3,3,100.0,39.76,99.37,3,100.0,39.76,99.37,143.430909,52.83459 +latest,Fork,5,9,55.56,26.24,81.29,5,55.56,26.24,81.29,137.569233,99.912435 +latest,Fruit,0,10,0.0,0.23,28.49,0,0.0,0.23,28.49,297.873732,62.252236 +latest,Kettle,5,10,50.0,23.38,76.62,5,50.0,23.38,76.62,253.021823,150.572497 +latest,Knife,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,191.285243,99.032405 +latest,Ladle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,97.583596,26.017721 +latest,Mug,3,5,60.0,22.28,88.19,3,60.0,22.28,88.19,207.773947,122.217816 +latest,Pot,2,3,66.67,19.41,93.24,2,66.67,19.41,93.24,166.05179,80.221275 +latest,Remote Control,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,149.374022,64.78487 +latest,S/p Shaker,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,179.256691,91.445181 +latest,Soap Dispenser,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,129.351762,62.202211 +latest,Spatula,4,10,40.0,16.75,69.21,4,40.0,16.75,69.21,176.224191,114.808147 +latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,162.539541,95.243964 +latest,Spray Bottle,2,6,33.33,9.9,70.96,2,33.33,9.9,70.96,147.104905,36.95449 +latest,Tissue Paper,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,225.463399,151.859712 +latest,OVERALL,64,125,51.2,42.52,59.81,64,51.2,42.52,59.81,190.224873,111.92889 diff --git a/pick_msproc/pick_msproc/shards/shard_03/eval/summary.json b/pick_msproc/pick_msproc/shards/shard_03/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f6796e607cf82899c61b5876e1164638ca78fa71 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/eval/summary.json @@ -0,0 +1,171 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "exo_camera_1", + "wrist_camera" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.512, + "success_count": 64.0, + "total_episodes": 125.0, + "avg_episode_length": 266.28, + "oracle_done_rate": 0.512, + "success_rate_pct": 51.2, + "oracle_rate_pct": 51.2 + }, + "stats": { + "total_episodes": 125, + "success_count": 64, + "failure_count": 61, + "success_rate": 0.512, + "avg_episode_length": 266.28, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 83, + "house_success_rates": { + "house_107": 0.5, + "house_118": 0.5, + "house_119": 0.0, + "house_137": 0.5, + "house_148": 0.0, + "house_163": 1.0, + "house_171": 0.5, + "house_186": 0.0, + "house_206": 1.0, + "house_218": 1.0, + "house_228": 0.0, + "house_237": 0.0, + "house_251": 0.0, + "house_26": 0.5, + "house_265": 0.5, + "house_271": 1.0, + "house_293": 0.0, + "house_297": 1.0, + "house_316": 0.0, + "house_322": 1.0, + "house_338": 1.0, + "house_339": 0.5, + "house_357": 1.0, + "house_368": 0.5, + "house_384": 0.5, + "house_388": 1.0, + "house_39": 0.0, + "house_4": 0.5, + "house_403": 1.0, + "house_411": 1.0, + "house_431": 1.0, + "house_433": 0.5, + "house_459": 0.0, + "house_461": 1.0, + "house_484": 1.0, + "house_485": 1.0, + "house_500": 0.0, + "house_51": 0.0, + "house_520": 1.0, + "house_526": 0.5, + "house_538": 1.0, + "house_546": 0.5, + "house_559": 0.0, + "house_564": 1.0, + "house_57": 0.5, + "house_579": 0.5, + "house_584": 1.0, + "house_607": 0.0, + "house_613": 0.0, + "house_627": 0.0, + "house_635": 1.0, + "house_652": 0.5, + "house_660": 1.0, + "house_674": 1.0, + "house_681": 1.0, + "house_696": 1.0, + "house_718": 1.0, + "house_729": 1.0, + "house_735": 0.0, + "house_751": 0.0, + "house_756": 0.0, + "house_779": 1.0, + "house_78": 0.0, + "house_780": 0.5, + "house_79": 0.5, + "house_802": 1.0, + "house_817": 0.0, + "house_833": 0.0, + "house_836": 0.5, + "house_853": 0.0, + "house_873": 1.0, + "house_878": 0.5, + "house_893": 1.0, + "house_906": 1.0, + "house_907": 0.0, + "house_929": 0.5, + "house_93": 0.0, + "house_931": 1.0, + "house_948": 0.0, + "house_958": 0.5, + "house_969": 1.0, + "house_979": 0.0, + "house_991": 0.0 + }, + "oracle_done_count": 64, + "oracle_done_rate": 0.512, + "avg_successful_episode_length": 92.125 + }, + "success_count": 64, + "total_count": 125, + "success_rate": 0.512, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 64, + "total": 125, + "success_rate_pct": 51.2, + "ci_95_low_pct": 42.52, + "ci_95_high_pct": 59.81, + "oracle_successes": 64, + "oracle_rate_pct": 51.2, + "oracle_ci_95_low_pct": 42.52, + "oracle_ci_95_high_pct": 59.81, + "jerk_joint_mean": 190.224873, + "jerk_joint_std": 111.92889 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/episode_results.jsonl b/pick_msproc/pick_msproc/shards/shard_03/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b93ab71f077b0f9c08899340e14286e626573c7c --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_107", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_107", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cookware", "object_name": "pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_118", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_118", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the square glass pepper shaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_119", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_119/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_137", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 98, "task_description": "Pick up the matte dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_137", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle with black handle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_148", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red apple", "object_name": "apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_163", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_163/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_171", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 299, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_171/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_171", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_171/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_186", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_186/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_206", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 62, "task_description": "Pick up the plain white ceramic mug with handle", "object_name": "mug_3ebc45568ed53a18c8797978b3744a99_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_206/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_218", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the black plastic remote", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_218/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_218", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 46, "task_description": "Pick up the matte blue bowl", "object_name": "bowl_1225dcc85067784fe806e13437861b11_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_218/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_228", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the salt shaker", "object_name": "saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_228/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal knife", "object_name": "butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_237", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_251", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware", "object_name": "bowl_1225dcc85067784fe806e13437861b11_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_251/trajectories_batch_1_of_1.h5", 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+{"house_id": "house_969", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 61, "task_description": "Pick up the dark-handled spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_969", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 83, "task_description": "Pick up the green ladle with handle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_979", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy beige ceramic mug with handle", "object_name": "mug_38903e9f02926f380b587d1b9de9c00b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_979/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/eval_meta.json b/pick_msproc/pick_msproc/shards/shard_03/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15b391d3e85b6a7484c23b8f7cd157062c7675a4 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv" +} diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/run_command.sh b/pick_msproc/pick_msproc/shards/shard_03/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..f60adcd30193cfb48375a9de910c702c8a873f89 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 --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 diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/shard_03_results.csv b/pick_msproc/pick_msproc/shards/shard_03/submission/shard_03_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2ff5bb6379cedd5eea710701fcdfee6d6f19cee1 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/shard_03_results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,203.550957,93.038352 +latest,Bowl,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,201.423237,82.221904 +latest,Box,6,7,85.71,47.35,96.81,6,85.71,47.35,96.81,221.383783,131.139923 +latest,Cup,3,3,100.0,39.76,99.37,3,100.0,39.76,99.37,143.430909,52.83459 +latest,Fork,5,9,55.56,26.24,81.29,5,55.56,26.24,81.29,137.569233,99.912435 +latest,Fruit,0,10,0.0,0.23,28.49,0,0.0,0.23,28.49,297.873732,62.252236 +latest,Kettle,5,10,50.0,23.38,76.62,5,50.0,23.38,76.62,253.021823,150.572497 +latest,Knife,3,6,50.0,18.41,81.59,3,50.0,18.41,81.59,191.285243,99.032405 +latest,Ladle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,97.583596,26.017721 +latest,Mug,3,5,60.0,22.28,88.19,3,60.0,22.28,88.19,207.773947,122.217816 +latest,Pot,2,3,66.67,19.41,93.24,2,66.67,19.41,93.24,166.05179,80.221275 +latest,Remote Control,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,149.374022,64.78487 +latest,S/p Shaker,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,179.256691,91.445181 +latest,Soap Dispenser,5,7,71.43,34.91,91.48,5,71.43,34.91,91.48,129.351762,62.202211 +latest,Spatula,4,10,40.0,16.75,69.21,4,40.0,16.75,69.21,176.224191,114.808147 +latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,162.539541,95.243964 +latest,Spray Bottle,2,6,33.33,9.9,70.96,2,33.33,9.9,70.96,147.104905,36.95449 +latest,Tissue Paper,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,225.463399,151.859712 +latest,OVERALL,64,125,51.2,42.52,59.81,64,51.2,42.52,59.81,190.224873,111.92889 diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/submission_manifest.json b/pick_msproc/pick_msproc/shards/shard_03/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ce40a45e3ca43b5e1892e253b895414489072172 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/submission_manifest.json @@ -0,0 +1,129 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03", + "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": 0.512, + "success_count": 64.0, + "total_episodes": 125.0, + "avg_episode_length": 266.28, + "oracle_done_rate": 0.512, + "success_rate_pct": 51.2, + "oracle_rate_pct": 51.2 + }, + "stats": { + "total_episodes": 125, + "success_count": 64, + "failure_count": 61, + "success_rate": 0.512, + "avg_episode_length": 266.28, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 83, + "house_success_rates": { + "house_107": 0.5, + "house_118": 0.5, + "house_119": 0.0, + "house_137": 0.5, + "house_148": 0.0, + "house_163": 1.0, + "house_171": 0.5, + "house_186": 0.0, + "house_206": 1.0, + "house_218": 1.0, + "house_228": 0.0, + "house_237": 0.0, + "house_251": 0.0, + "house_26": 0.5, + "house_265": 0.5, + "house_271": 1.0, + "house_293": 0.0, + "house_297": 1.0, + "house_316": 0.0, + "house_322": 1.0, + "house_338": 1.0, + "house_339": 0.5, + "house_357": 1.0, + "house_368": 0.5, + "house_384": 0.5, + "house_388": 1.0, + "house_39": 0.0, + "house_4": 0.5, + "house_403": 1.0, + "house_411": 1.0, + "house_431": 1.0, + "house_433": 0.5, + "house_459": 0.0, + "house_461": 1.0, + "house_484": 1.0, + "house_485": 1.0, + "house_500": 0.0, + "house_51": 0.0, + "house_520": 1.0, + "house_526": 0.5, + "house_538": 1.0, + "house_546": 0.5, + "house_559": 0.0, + "house_564": 1.0, + "house_57": 0.5, + "house_579": 0.5, + "house_584": 1.0, + "house_607": 0.0, + "house_613": 0.0, + "house_627": 0.0, + "house_635": 1.0, + "house_652": 0.5, + "house_660": 1.0, + "house_674": 1.0, + "house_681": 1.0, + "house_696": 1.0, + "house_718": 1.0, + "house_729": 1.0, + "house_735": 0.0, + "house_751": 0.0, + "house_756": 0.0, + "house_779": 1.0, + "house_78": 0.0, + "house_780": 0.5, + "house_79": 0.5, + "house_802": 1.0, + "house_817": 0.0, + "house_833": 0.0, + "house_836": 0.5, + "house_853": 0.0, + "house_873": 1.0, + "house_878": 0.5, + "house_893": 1.0, + "house_906": 1.0, + "house_907": 0.0, + "house_929": 0.5, + "house_93": 0.0, + "house_931": 1.0, + "house_948": 0.0, + "house_958": 0.5, + "house_969": 1.0, + "house_979": 0.0, + "house_991": 0.0 + }, + "oracle_done_count": 64, + "oracle_done_rate": 0.512, + "avg_successful_episode_length": 92.125 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/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 +} diff --git a/pick_msproc/pick_msproc/shards/shard_03/submission/summary.json b/pick_msproc/pick_msproc/shards/shard_03/submission/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f6796e607cf82899c61b5876e1164638ca78fa71 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03/submission/summary.json @@ -0,0 +1,171 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "exo_camera_1", + "wrist_camera" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.512, + "success_count": 64.0, + "total_episodes": 125.0, + "avg_episode_length": 266.28, + "oracle_done_rate": 0.512, + "success_rate_pct": 51.2, + "oracle_rate_pct": 51.2 + }, + "stats": { + "total_episodes": 125, + "success_count": 64, + "failure_count": 61, + "success_rate": 0.512, + "avg_episode_length": 266.28, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 83, + "house_success_rates": { + "house_107": 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