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pnp_next_to_v2/pnp_next_to_v2/submission/FrankaPickandPlaceNextToHardBench_20260305_json_benchmark_results.csv

@@ -0,0 +1,579 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.709163,9.11356
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+latest,Objastoneaxe,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,37.353121,6.274426
+latest,Objastonecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.426503,0.0
+latest,Objastonedisc,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,39.970696,25.248278
+latest,Objastonehammer,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,49.136775,2.286976
+latest,Objastonetool,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,31.759952,4.090091
+latest,Objastonetoolreplica,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.708831,0.0
+latest,Objastonetray,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.880208,0.0
+latest,Objastopwatch,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,25.040925,13.186141
+latest,Objastoragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.865638,0.0
+latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.326549,0.0
+latest,Objasugarbowl,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.580861,3.112781
+latest,Objasunglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.632599,0.0
+latest,Objasuppressor,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,63.666282,34.958209
+latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0
+latest,Objataco,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,67.728963,4.352181
+latest,Objatacticalmask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.190027,0.0
+latest,Objatacticalpouch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.766731,0.0
+latest,Objatacticaltool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.27421,0.0
+latest,Objatapedispenser,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.155675,7.484008
+latest,Objateacup,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,26.841578,15.320461
+latest,Objateapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.954963,0.0
+latest,Objatelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.961458,0.0
+latest,Objatelephonehandset,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.595462,5.779448
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+latest,Objatissuebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.732401,0.0
+latest,Objatoiletpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.01025,0.0
+latest,Objatoiletpaperroll,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,29.95622,12.642552
+latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.859374,0.0
+latest,Objatool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,61.991018,15.238325
+latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.346061,0.0
+latest,Objatoy,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.677392,0.0
+latest,Objatoyblaster,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,84.26577,47.057194
+latest,Objatoybomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.8491,0.0
+latest,Objatoybuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.067745,0.0
+latest,Objatoydinosaur,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.915622,0.0
+latest,Objatoyfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.114979,0.0
+latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.656993,0.0
+latest,Objatoyplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.857226,0.0
+latest,Objatoyraygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.682415,0.0
+latest,Objatoyrobot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.676033,0.0
+latest,Objatoysoldier,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300159,0.0
+latest,Objatoyspacecraft,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.387744,0.0
+latest,Objatoystoragebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.930972,0.0
+latest,Objatoysubmarine,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.635338,0.0
+latest,Objatoysword,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,57.175751,12.564853
+latest,Objatoytower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.817107,0.0
+latest,Objatoytruck,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.237592,0.0
+latest,Objatoyvehicle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.009387,0.0
+latest,Objatradingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.503162,0.386498
+latest,Objatraincarmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.375407,0.0
+latest,Objatrainmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.257782,0.0
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+latest,Objatwowayradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.162012,0.0
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+latest,Objavessel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,39.171979,0.0
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+latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.15672,0.0
+latest,Objavintagemobilephone,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,30.164479,13.917249
+latest,Objavirtualrealityheadset,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,33.330172,23.030997
+latest,Objavisorcap,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,13.278293,0.562237
+latest,Objawalkietalkie,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,30.77909,2.242874
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+latest,Objawallet,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,48.69588,12.279592
+latest,Objawallhook,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.925216,12.028695
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+latest,Objaweaponsight,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,28.397157,16.226583
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+latest,Objawoodentool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.66877,0.0
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+latest,Objayoyo,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.895991,0.0
+latest,Plate,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,14.902031,3.140995
+latest,Pot,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,55.067475,15.752378
+latest,Soap Dispenser,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,58.06681,57.779525
+latest,Spray Bottle,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,60.623322,30.874419
+latest,Statue,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,90.801563,45.193101
+latest,Vase,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,56.498416,25.574529
+latest,OVERALL,29,1000,2.9,2.03,4.13,29,2.9,2.03,4.13,44.062818,32.537204

pnp_next_to_v2/pnp_next_to_v2/submission/results.csv

@@ -0,0 +1,579 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.709163,9.11356
+latest,Bowl,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,45.210245,26.966741
+latest,Box,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.473414,8.609321
+latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.578375,0.0
+latest,Candle,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,47.358974,35.778812
+latest,Cellulartelephone,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,40.619938,29.654164
+latest,Cookingpan,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,13.893461,2.672513
+latest,Cup,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,74.409199,42.033209
+latest,Egg,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,42.628702,25.145662
+latest,Fruit,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,23.647795,14.803356
+latest,Irishpotato,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,73.508736,65.092412
+latest,Knife,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,39.311101,22.148777
+latest,Laptop,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,43.730162,9.302014
+latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0
+latest,Objaabstractfigure,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.474686,13.451196
+latest,Objaacorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.955052,0.0
+latest,Objaadhesivetape,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,44.494263,23.814418
+latest,Objaadjustablewrench,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.137495,20.042372
+latest,Objaaerosolcan,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,77.477474,30.534825
+latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.286147,0.0
+latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0
+latest,Objaammunition,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.214166,12.936167
+latest,Objaamulet,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,60.580729,39.707852
+latest,Objaanglegrinder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.924598,2.0271
+latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0
+latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0
+latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0
+latest,Objaarrowhead,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,56.452566,24.542293
+latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0
+latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0
+latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0
+latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0
+latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0
+latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0
+latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0
+latest,Objaaward,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.367645,0.659964
+latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0
+latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0
+latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.725339,0.0
+latest,Objabarclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.271319,0.0
+latest,Objabarcodescanner,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.29747,8.066213
+latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0
+latest,Objabellpepper,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,14.437861,3.582974
+latest,Objabeltbuckle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,21.616768,9.200717
+latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.227851,0.0
+latest,Objabicyclepump,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.110951,0.0
+latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0
+latest,Objabolt,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,39.964608,20.014022
+latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0
+latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0
+latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0
+latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0
+latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0
+latest,Objabottleopener,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,58.114407,3.499886
+latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0
+latest,Objabowlingpin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.492661,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.534818,0.0
+latest,Objabulletcartridge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,39.513374,9.159919
+latest,Objabutterflyknife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.5338,8.935487
+latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0
+latest,Objacalculator,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.37332,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0
+latest,Objacamcorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,50.271437,12.503522
+latest,Objacamera,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,90.71976,41.464406
+latest,Objacan,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,12.376937,0.516284
+latest,Objacandle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,42.6596,6.801183
+latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0
+latest,Objacandlestick,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,69.23477,38.508829
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+        },
+        "oracle_done_count": 4,
+        "oracle_done_rate": 0.03361344537815126,
+        "avg_successful_episode_length": 52.75
+      },
+      "metrics_mean": {
+        "success_rate": 0.03361344537815126,
+        "success_count": 4.0,
+        "total_episodes": 119.0,
+        "avg_episode_length": 435.6806722689076,
+        "oracle_done_rate": 0.03361344537815126,
+        "success_rate_pct": 3.36,
+        "oracle_rate_pct": 3.36
+      },
+      "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815"
+    },
+    {
+      "shard": "shard_07",
+      "summary_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/summary.json",
+      "stats": {
+        "total_episodes": 119,
+        "success_count": 2,
+        "failure_count": 117,
+        "success_rate": 0.01680672268907563,
+        "avg_episode_length": 443.03361344537814,
+        "min_episode_length": 56,
+        "max_episode_length": 449,
+        "num_houses": 115,
+        "house_success_rates": {
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+        },
+        "oracle_done_count": 2,
+        "oracle_done_rate": 0.01680672268907563,
+        "avg_successful_episode_length": 94.0
+      },
+      "metrics_mean": {
+        "success_rate": 0.01680672268907563,
+        "success_count": 2.0,
+        "total_episodes": 119.0,
+        "avg_episode_length": 443.03361344537814,
+        "oracle_done_rate": 0.01680672268907563,
+        "success_rate_pct": 1.68,
+        "oracle_rate_pct": 1.68
+      },
+      "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815"
+    }
+  ],
+  "results_csv": "results.csv",
+  "benchmark_named_csv": "FrankaPickandPlaceNextToHardBench_20260305_json_benchmark_results.csv",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "official_csv_overall": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": "29",
+    "total": "1000",
+    "success_rate_pct": "2.9",
+    "ci_95_low_pct": "2.03",
+    "ci_95_high_pct": "4.13",
+    "oracle_successes": "29",
+    "oracle_rate_pct": "2.9",
+    "oracle_ci_95_low_pct": "2.03",
+    "oracle_ci_95_high_pct": "4.13",
+    "jerk_joint_mean": "44.062818",
+    "jerk_joint_std": "32.537204"
+  },
+  "raw_episode_results_success_count": 28,
+  "raw_episode_results_oracle_done_count": 28
+}

pnp_next_to_v2/submission/pnp_next_to_v2_results.csv

@@ -0,0 +1,579 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Alarmclock,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.709163,9.11356
+latest,Bowl,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,45.210245,26.966741
+latest,Box,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.473414,8.609321
+latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.578375,0.0
+latest,Candle,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,47.358974,35.778812
+latest,Cellulartelephone,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,40.619938,29.654164
+latest,Cookingpan,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,13.893461,2.672513
+latest,Cup,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,74.409199,42.033209
+latest,Egg,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,42.628702,25.145662
+latest,Fruit,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,23.647795,14.803356
+latest,Irishpotato,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,73.508736,65.092412
+latest,Knife,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,39.311101,22.148777
+latest,Laptop,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,43.730162,9.302014
+latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0
+latest,Objaabstractfigure,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.474686,13.451196
+latest,Objaacorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.955052,0.0
+latest,Objaadhesivetape,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,44.494263,23.814418
+latest,Objaadjustablewrench,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.137495,20.042372
+latest,Objaaerosolcan,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,77.477474,30.534825
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+latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0
+latest,Objaammunition,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.214166,12.936167
+latest,Objaamulet,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,60.580729,39.707852
+latest,Objaanglegrinder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.924598,2.0271
+latest,Objaanimalsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.245989,0.0
+latest,Objaappliance,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.92214,0.0
+latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0
+latest,Objaarrowhead,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,56.452566,24.542293
+latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.609133,0.0
+latest,Objaartificialplant,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.195573,0.0
+latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0
+latest,Objaastrolabe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.550102,0.0
+latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.811463,0.0
+latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0
+latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.903619,0.0
+latest,Objaaward,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,34.367645,0.659964
+latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.883608,0.0
+latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.184846,0.0
+latest,Objabadge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.725339,0.0
+latest,Objabarclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.271319,0.0
+latest,Objabarcodescanner,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.29747,8.066213
+latest,Objabattery,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.815498,0.0
+latest,Objabellpepper,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,14.437861,3.582974
+latest,Objabeltbuckle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,21.616768,9.200717
+latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.227851,0.0
+latest,Objabicyclepump,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.110951,0.0
+latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0
+latest,Objabolt,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,39.964608,20.014022
+latest,Objabomb,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.743636,0.0
+latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.017309,0.0
+latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0
+latest,Objaboot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.708242,0.0
+latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0
+latest,Objabottleopener,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,58.114407,3.499886
+latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0
+latest,Objabowlingpin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.492661,0.0
+latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,92.534818,0.0
+latest,Objabulletcartridge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,39.513374,9.159919
+latest,Objabutterflyknife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,47.5338,8.935487
+latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0
+latest,Objacalculator,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.37332,0.0
+latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0
+latest,Objacamcorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,50.271437,12.503522
+latest,Objacamera,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,90.71976,41.464406
+latest,Objacan,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,12.376937,0.516284
+latest,Objacandle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,42.6596,6.801183
+latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0
+latest,Objacandlestick,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,69.23477,38.508829
+latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.357501,0.0
+latest,Objacandywrapper,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,45.408213,28.552866
+latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.894106,0.0
+latest,Objacap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.816805,0.0
+latest,Objacapsule,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,21.780328,15.375049
+latest,Objacasing,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.508136,13.894592
+latest,Objacassetteplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.074884,0.0
+latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0
+latest,Objaceramiccat,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,34.871349,16.867983
+latest,Objaceramicdish,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.131022,9.659691
+latest,Objaceramicjug,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.349164,0.0
+latest,Objaceramiclid,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,58.726118,46.366798
+latest,Objaceramicmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.411923,0.0
+latest,Objaceramicplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.567945,0.0
+latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0
+latest,Objaceramicvessel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.126939,0.0
+latest,Objachain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.549578,0.0
+latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0
+latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.987584,0.0
+latest,Objachesspiece,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,35.695249,19.945096
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+latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0
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pnp_next_to_v2/submission/pnp_next_to_v2_submission_manifest.json

@@ -0,0 +1,22 @@
+{
+  "task_name": "pnp_next_to_v2",
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceNextToHardBench/FrankaPickandPlaceNextToHardBench_20260305_json_benchmark",
+  "benchmark_basename": "FrankaPickandPlaceNextToHardBench_20260305_json_benchmark",
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+        "oracle_done_count": 2,
+        "oracle_done_rate": 0.01680672268907563,
+        "avg_successful_episode_length": 94.0
+      },
+      "metrics_mean": {
+        "success_rate": 0.01680672268907563,
+        "success_count": 2.0,
+        "total_episodes": 119.0,
+        "avg_episode_length": 443.03361344537814,
+        "oracle_done_rate": 0.01680672268907563,
+        "success_rate_pct": 1.68,
+        "oracle_rate_pct": 1.68
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+      "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815"
+    }
+  ],
+  "results_csv": "results.csv",
+  "benchmark_named_csv": "FrankaPickandPlaceNextToHardBench_20260305_json_benchmark_results.csv",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "official_csv_overall": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": "29",
+    "total": "1000",
+    "success_rate_pct": "2.9",
+    "ci_95_low_pct": "2.03",
+    "ci_95_high_pct": "4.13",
+    "oracle_successes": "29",
+    "oracle_rate_pct": "2.9",
+    "oracle_ci_95_low_pct": "2.03",
+    "oracle_ci_95_high_pct": "4.13",
+    "jerk_joint_mean": "44.062818",
+    "jerk_joint_std": "32.537204"
+  },
+  "raw_episode_results_success_count": 28,
+  "raw_episode_results_oracle_done_count": 28
+}

pnp_next_to_v2/submission/run_command.sh

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

pnp_next_to_v2/submission/task_runs.jsonl

@@ -0,0 +1 @@
+{"status": "success", "task_name": "pnp_next_to_v2", "task_slug": "pnp_next_to_v2", "benchmark_dir": "/home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceNextToHardBench/FrankaPickandPlaceNextToHardBench_20260305_json_benchmark", "prompt_cache_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan", "task_output_root": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2", "submission_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/submission", "results_csv": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/submission/results.csv", "summary_json": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/submission/summary.json", "submission_manifest_json": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/submission/submission_manifest.json", "bundle_zip": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/submission_bundle.zip"}