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b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0150dc26e62767e851c03517ed1dc272288b528b --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9928/trajectories_batch_1_of_1.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9f9bb38e904e7a3f6964d9e8b1a8967bfac39d13beb22b0af779393e227ac90 +size 966696 diff --git a/pnp_v2/pnp_v2/shards/shard_01/run.log b/pnp_v2/pnp_v2/shards/shard_01/run.log new file mode 100644 index 0000000000000000000000000000000000000000..79bc58c71668685780d6b171f1de7aafe00300e3 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_01/run.log @@ -0,0 +1,1477 @@ +[2026-05-26 01:03:53,068] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,136] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,155] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 01:03:56,002] 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' +[2026-05-26 01:04:10,235] 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() +[2026-05-26 01:04:38,695] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:38,703] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:42,217] 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 +[2026-05-26 01:04:42,379] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:42 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:42,493] INFO JsonEvalRunner initialized: 36 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 INFO pipeline.py:1279] Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes +[05/26 01:04:42 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:42 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/pnp_v2/pnp_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'), + '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': [3934, + 3947, + 3991, + 4021, + 4079, + 4144, + 4213, + 4289, + 4303, + 4347, + 4382, + 4423, + 4493, + 4545, + 4600, + 4644, + 4702, + 4727, + 4742, + 4773, + 4807, + 4860, + 4933, + 4983, + 5023, + 5048, + 5116, + 5165, + 5219, + 5291, + 5361, + 5390, + 5428, + 5473, + 5495, + 5540], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:42,504] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442 +[05/26 01:04:42 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:42 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'}} +[05/26 01:04:42 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3934 (index 0/36) +[05/26 01:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +2026-05-26 01:06:22.046 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:56,854] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:59,744] 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. +[2026-05-26 01:09:03,079] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,702] 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 +[2026-05-26 01:09:06,706] 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 +[05/26 01:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False +[05/26 01:14:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +[05/26 01:20:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/26 01:25:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3934: 2 episodes +[05/26 01:25:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934 +[05/26 01:25:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s) +[05/26 01:25:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3934 +[05/26 01:25:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3934: 0/2 successful episodes +[05/26 01:25:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3947 (index 1/36) +[05/26 01:25:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:25:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 01:32:45,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:37:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False +[05/26 01:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3947: 1 episodes +[05/26 01:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:30 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947 +[05/26 01:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s) +[05/26 01:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3947 +[05/26 01:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3947: 0/1 successful episodes +[05/26 01:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 2/36) +[05/26 01:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 01:40:06,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:41:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/26 01:44:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 1 episodes +[05/26 01:44:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:38 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991 +[05/26 01:44:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4021 (index 3/36) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:44:39 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'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:56:35,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False +[05/26 02:00:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4021: 1 episodes +[05/26 02:00:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:44 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021 +[05/26 02:00:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s) +[05/26 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4021 +[05/26 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4021: 0/1 successful episodes +[05/26 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 4/36) +[05/26 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 02:03:54,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:09:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/26 02:09:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/26 02:09:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:28 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079 +[05/26 02:09:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s) +[05/26 02:09:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/26 02:09:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/26 02:09:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4144 (index 5/36) +[05/26 02:09:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:09:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene +[2026-05-26 02:11:46,895] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False +[05/26 02:16:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4144: 1 episodes +[05/26 02:16:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:50 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144 +[05/26 02:16:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s) +[05/26 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4144 +[05/26 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4144: 0/1 successful episodes +[05/26 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4213 (index 6/36) +[05/26 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 02:18:43,955] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:24:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False +[05/26 02:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4213: 1 episodes +[05/26 02:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:24:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:24:31 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213 +[05/26 02:24:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s) +[05/26 02:24:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4213 +[05/26 02:24:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4213: 0/1 successful episodes +[05/26 02:24:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4289 (index 7/36) +[05/26 02:24:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:24:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 02:27:11,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False +[05/26 02:32:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4289: 1 episodes +[05/26 02:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289 +[05/26 02:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s) +[05/26 02:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4289 +[05/26 02:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4289: 0/1 successful episodes +[05/26 02:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 8/36) +[05/26 02:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:32:47 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:34:59,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False +[05/26 02:45:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:45:38 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:47:55,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/26 02:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 2 episodes +[05/26 02:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303 +[05/26 02:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s) +[05/26 02:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/26 02:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/2 successful episodes +[05/26 02:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4347 (index 9/36) +[05/26 02:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 02:53:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[2026-05-26 02:56:16,490] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:01:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False +[05/26 03:01:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4347: 1 episodes +[05/26 03:01:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347 +[05/26 03:01:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s) +[05/26 03:01:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4347 +[05/26 03:01:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4347: 0/1 successful episodes +[05/26 03:01:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4382 (index 10/36) +[05/26 03:01:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:01:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 03:04:16,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False +[05/26 03:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4382: 1 episodes +[05/26 03:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:13:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:13:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382 +[05/26 03:13:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s) +[05/26 03:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4382 +[05/26 03:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4382: 0/1 successful episodes +[05/26 03:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4423 (index 11/36) +[05/26 03:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 03:15:23,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:15:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:20:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False +[05/26 03:20:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4423: 1 episodes +[05/26 03:20:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:20:15 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s) +[05/26 03:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4423: 0/1 successful episodes +[05/26 03:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4493 (index 12/36) +[05/26 03:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4493 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:20:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[2026-05-26 03:22:20,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False +[05/26 03:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4493: 1 episodes +[05/26 03:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:25:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:25:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493 +[05/26 03:25:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s) +[05/26 03:25:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4493 +[05/26 03:25:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4493: 0/1 successful episodes +[05/26 03:25:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4545 (index 13/36) +[05/26 03:25:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4545 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:25:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene +[2026-05-26 03:27:48,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:37:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False +[05/26 03:37:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4545: 1 episodes +[05/26 03:37:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:37:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:37:48 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545 +[05/26 03:37:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s) +[05/26 03:37:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4545 +[05/26 03:37:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4545: 0/1 successful episodes +[05/26 03:37:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4600 (index 14/36) +[05/26 03:37:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4600 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:37:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene +[2026-05-26 03:40:23,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False +[05/26 03:46:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4600: 1 episodes +[05/26 03:46:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600 +[05/26 03:46:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 03:46:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4600 +[05/26 03:46:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4600: 0/1 successful episodes +[05/26 03:46:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4644 (index 15/36) +[05/26 03:46:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:46:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 03:48:10,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False +[05/26 03:53:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4644: 1 episodes +[05/26 03:53:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:34 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644 +[05/26 03:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s) +[05/26 03:53:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4644 +[05/26 03:53:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4644: 0/1 successful episodes +[05/26 03:53:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4702 (index 16/36) +[05/26 03:53:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:53:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 03:55:36,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 03:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4702: 1 episodes +[05/26 03:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:59:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:59:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s) +[05/26 03:59:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4702: 0/1 successful episodes +[05/26 03:59:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4727 (index 17/36) +[05/26 03:59:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:59:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:02:11,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False +[05/26 04:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:09:07,177] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False +[05/26 04:16:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4727: 2 episodes +[05/26 04:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727 +[05/26 04:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s) +[05/26 04:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4727 +[05/26 04:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4727: 0/2 successful episodes +[05/26 04:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4742 (index 18/36) +[05/26 04:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene +[2026-05-26 04:18:48,300] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False +[05/26 04:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4742: 1 episodes +[05/26 04:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:54 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742 +[05/26 04:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s) +[05/26 04:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4742 +[05/26 04:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4742: 0/1 successful episodes +[05/26 04:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4773 (index 19/36) +[05/26 04:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:24:39,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False +[05/26 04:30:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4773: 1 episodes +[05/26 04:30:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:30:16 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s) +[05/26 04:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4773: 0/1 successful episodes +[05/26 04:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 20/36) +[05/26 04:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:32:20,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False +[05/26 04:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes +[05/26 04:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s) +[05/26 04:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 0/1 successful episodes +[05/26 04:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4860 (index 21/36) +[05/26 04:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4860 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 04:36:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +[2026-05-26 04:37:23,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False +[05/26 04:40:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4860: 1 episodes +[05/26 04:40:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860 +[05/26 04:40:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s) +[05/26 04:40:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4860 +[05/26 04:40:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4860: 0/1 successful episodes +[05/26 04:40:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4933 (index 22/36) +[05/26 04:40:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:40:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene +[2026-05-26 04:41:55,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False +[05/26 04:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4933: 1 episodes +[05/26 04:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:19 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933 +[05/26 04:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s) +[05/26 04:46:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4933 +[05/26 04:46:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4933: 0/1 successful episodes +[05/26 04:46:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4983 (index 23/36) +[05/26 04:46:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4983 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:46:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 04:48:40,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False +[05/26 04:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4983: 1 episodes +[05/26 04:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:14 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983 +[05/26 04:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s) +[05/26 04:54:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4983 +[05/26 04:54:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4983: 0/1 successful episodes +[05/26 04:54:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5023 (index 24/36) +[05/26 04:54:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:54:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene +[2026-05-26 04:55:46,274] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:00:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False +[05/26 05:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5023: 1 episodes +[05/26 05:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:30 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023 +[05/26 05:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s) +[05/26 05:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5023 +[05/26 05:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5023: 0/1 successful episodes +[05/26 05:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5048 (index 25/36) +[05/26 05:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5048 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:02:29,313] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:07:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False +[05/26 05:07:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:07:22 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:09:30,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:16:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False +[05/26 05:16:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5048: 2 episodes +[05/26 05:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s) +[05/26 05:16:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5048: 0/2 successful episodes +[05/26 05:16:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5116 (index 26/36) +[05/26 05:16:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5116 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:16:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:18:53,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:23:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False +[05/26 05:23:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5116: 1 episodes +[05/26 05:23:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:23:36 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116 +[05/26 05:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s) +[05/26 05:23:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5116 +[05/26 05:23:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5116: 0/1 successful episodes +[05/26 05:23:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5165 (index 27/36) +[05/26 05:23:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:23:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 05:26:10,884] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:27:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False +[05/26 05:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5165: 1 episodes +[05/26 05:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s) +[05/26 05:31:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5165: 0/1 successful episodes +[05/26 05:31:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 28/36) +[05/26 05:31:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:31:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +[2026-05-26 05:34:11,341] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:38:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False +[05/26 05:38:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/26 05:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219 +[05/26 05:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s) +[05/26 05:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/26 05:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/26 05:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5291 (index 29/36) +[05/26 05:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:39:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +[2026-05-26 05:41:07,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/26 05:48:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5291: 1 episodes +[05/26 05:48:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291 +[05/26 05:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s) +[05/26 05:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5291 +[05/26 05:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5291: 0/1 successful episodes +[05/26 05:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5361 (index 30/36) +[05/26 05:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5361 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:51:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False +[05/26 05:57:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5361: 1 episodes +[05/26 05:57:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:57:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:57:21 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s) +[05/26 05:57:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5361: 0/1 successful episodes +[05/26 05:57:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5390 (index 31/36) +[05/26 05:57:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:57:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 05:58:58,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:59:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False +[05/26 06:02:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:03:21,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False +[05/26 06:11:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5390: 2 episodes +[05/26 06:11:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390 +[05/26 06:11:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s) +[05/26 06:11:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5390 +[05/26 06:11:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5390: 0/2 successful episodes +[05/26 06:11:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5428 (index 32/36) +[05/26 06:11:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:11:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 06:13:39,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False +[05/26 06:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5428: 1 episodes +[05/26 06:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:25:37 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s) +[05/26 06:25:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5428: 0/1 successful episodes +[05/26 06:25:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5473 (index 33/36) +[05/26 06:25:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:25:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene +[2026-05-26 06:27:04,688] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False +[05/26 06:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5473: 1 episodes +[05/26 06:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s) +[05/26 06:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5473: 0/1 successful episodes +[05/26 06:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5495 (index 34/36) +[05/26 06:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:34:15,122] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False +[05/26 06:38:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5495: 1 episodes +[05/26 06:38:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:23 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495 +[05/26 06:38:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s) +[05/26 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5495 +[05/26 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5495: 0/1 successful episodes +[05/26 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5540 (index 35/36) +[05/26 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 06:40:35,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False +[05/26 06:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5540: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 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/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s) +[05/26 06:45:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5540: 0/1 successful episodes +[05/26 06:45:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:45:58 INFO pipeline.py:1496] Completed 36 houses, skipped 0 houses +[05/26 06:45:58 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:45:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 36 files → /tmp/tmpif31nlmf.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:46:02,148] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval +[2026-05-26 06:46:02,148] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_01/run_command.sh b/pnp_v2/pnp_v2/shards/shard_01/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..4a1d1ceeefa792172ecaaa1a7eaac652eb1c624b --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_01/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..a53b464b14e26cb864c782990c5d57e418bb0003 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log @@ -0,0 +1,2824 @@ +05/25 10:25:33 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/25 10:25:33 INFO: Starting house-by-house rollout of 112 houses with 2 episodes each (224 total episodes) using 1 worker processes [pipeline.py: 1279] +05/25 10:25:33 INFO: Evaluation configuration: [pipeline.py: 1286] +05/25 10:25:33 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533'), + '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': [29, + 132, + 215, + 253, + 265, + 312, + 356, + 409, + 476, + 508, + 542, + 1048, + 1069, + 1087, + 1126, + 1185, + 1248, + 1252, + 1322, + 1396, + 1473, + 1531, + 1562, + 1571, + 1609, + 1662, + 1697, + 1746, + 1789, + 1850, + 1881, + 1945, + 1954, + 2013, + 2068, + 2120, + 2156, + 2182, + 2225, + 2261, + 2312, + 2341, + 2383, + 2433, + 2467, + 2490, + 2522, + 2570, + 2618, + 2665, + 2727, + 2733, + 2775, + 2829, + 2882, + 2959, + 3042, + 3070, + 3097, + 3138, + 3216, + 3281, + 3312, + 3339, + 3372, + 3436, + 3483, + 3522, + 3551, + 3593, + 3600, + 3653, + 3683, + 3761, + 3793, + 3859, + 3910, + 3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/25 10:25:33 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:33 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/25 10:25:33 INFO: [Worker 0] Worker 0 starting house 29 (index 0/112) [pipeline.py: 473] +05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 29 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/25 10:25:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5 [json_eval_task_sampler.py: 648] +05/25 10:25:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/25 10:25:48 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/25 10:25:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_29_ceiling.xml [task_sampler.py: 797] +05/25 10:25:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=29, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:25:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:25:56 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 10:25:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:25:59 INFO: [Worker 0] Sampled task 'Pick up the purple candy wrapper with lighthouse design and place it in or on the round light ashtray' [task_sampler.py: 1136] +05/25 10:25:59 INFO: [Worker 0] Worker 0 house 29 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:25:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:34:34 INFO: [Worker 0] Worker 0 house 29 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 10:34:40 INFO: [Worker 0] Batching and saving trajectory data for house_29: 1 episodes [pipeline.py: 233] +05/25 10:34:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:34:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:34:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_29 [save_utils.py: 703] +05/25 10:34:45 INFO: [Worker 0] Successfully saved trajectory data for house_29 in 4.60s (batch: 4.48s, save: 0.13s) [pipeline.py: 280] +05/25 10:34:46 WARNING: [Worker 0] No trajectory data to save for house_29 [pipeline.py: 229] +05/25 10:34:46 INFO: [Worker 0] Worker 0 completed house 29: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:34:46 INFO: [Worker 0] Worker 0 starting house 132 (index 1/112) [pipeline.py: 473] +05/25 10:34:46 INFO: [Worker 0] Loaded 1 episodes for house 132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 10:34:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:34:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/25 10:34:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 10:34:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 10:35:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_132_ceiling.xml [task_sampler.py: 797] +05/25 10:35:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:35:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:35:04 INFO: [Worker 0] randomize_scene: Setting poses for 111 objects [json_eval_task_sampler.py: 686] +05/25 10:35:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:35:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:35:04 INFO: [Worker 0] Sampled task 'Pick up the blue stress ball with white edupoint and place it in or on the shallow round wooden bowl with grain' [task_sampler.py: 1136] +05/25 10:35:04 INFO: [Worker 0] Worker 0 house 132 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:35:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:35:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:42:06 INFO: [Worker 0] Worker 0 house 132 episode 0 object objastressball_c3c025df7f7947cfb83732be54c7e0f3_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 10:42:10 INFO: [Worker 0] Batching and saving trajectory data for house_132: 1 episodes [pipeline.py: 233] +05/25 10:42:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:42:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:42:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_132 [save_utils.py: 703] +05/25 10:42:14 INFO: [Worker 0] Successfully saved trajectory data for house_132 in 3.29s (batch: 3.12s, save: 0.16s) [pipeline.py: 280] +05/25 10:42:14 WARNING: [Worker 0] No trajectory data to save for house_132 [pipeline.py: 229] +05/25 10:42:14 INFO: [Worker 0] Worker 0 completed house 132: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:42:14 INFO: [Worker 0] Worker 0 starting house 215 (index 2/112) [pipeline.py: 473] +05/25 10:42:14 INFO: [Worker 0] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 10:42:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:42:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 10:42:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/25 10:42:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 10:42:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_215_ceiling.xml [task_sampler.py: 797] +05/25 10:42:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:42:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:42:17 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/25 10:42:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:42:17 INFO: [Worker 0] Sampled task 'Pick up the ammunition and place it in or on the sleek metallic tray with edges' [task_sampler.py: 1136] +05/25 10:42:17 INFO: [Worker 0] Worker 0 house 215 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:42:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:45:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:50:00 INFO: [Worker 0] Worker 0 house 215 episode 0 object objabulletcartridge_1b46a5e8c3aa4ce9ac49c68efdb21b9c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 10:50:03 INFO: [Worker 0] Batching and saving trajectory data for house_215: 1 episodes [pipeline.py: 233] +05/25 10:50:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:50:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:50:08 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_215 [save_utils.py: 703] +05/25 10:50:08 INFO: [Worker 0] Successfully saved trajectory data for house_215 in 4.08s (batch: 3.91s, save: 0.16s) [pipeline.py: 280] +05/25 10:50:08 WARNING: [Worker 0] No trajectory data to save for house_215 [pipeline.py: 229] +05/25 10:50:08 INFO: [Worker 0] Worker 0 completed house 215: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:50:08 INFO: [Worker 0] Worker 0 starting house 253 (index 3/112) [pipeline.py: 473] +05/25 10:50:08 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/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 10:50:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:50:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 10:50:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 10:50:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/906fdc79f5d84e8e8b3b467e794a8c00 [json_eval_task_sampler.py: 648] +05/25 10:50:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_253_ceiling.xml [task_sampler.py: 797] +05/25 10:50:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:50:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:50:18 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 10:50:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:50:18 INFO: [Worker 0] Sampled task 'Pick up the spiral shaped brown feces and place it in or on the glossy glass bowl' [task_sampler.py: 1136] +05/25 10:50:18 INFO: [Worker 0] Worker 0 house 253 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 10:50:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:50:18 WARNING: [Worker 0] Could not find object objanoveltypickaxe_ec8788211970412b95d9c478b1c74e25_1_0_8 in scene [object_manager.py: 1238] +05/25 10:50:18 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_8 in scene [object_manager.py: 1238] +05/25 10:53:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:59:07 INFO: [Worker 0] Worker 0 house 253 episode 0 object objanoveltyitem_e6d842becf274b239f9feeb1ce7ef874_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 10:59:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 10:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 10:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/906fdc79f5d84e8e8b3b467e794a8c00 [json_eval_task_sampler.py: 648] +05/25 10:59:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_253_ceiling.xml [task_sampler.py: 797] +05/25 10:59:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:59:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:59:23 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 10:59:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:59:23 INFO: [Worker 0] Sampled task 'Pick up the red ninja patch with text and place it in or on the colorful decorative bowl' [task_sampler.py: 1136] +05/25 10:59:23 INFO: [Worker 0] Worker 0 house 253 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 10:59:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:59:24 WARNING: [Worker 0] Could not find object objanoveltypickaxe_ec8788211970412b95d9c478b1c74e25_1_0_8 in scene [object_manager.py: 1238] +05/25 10:59:24 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_8 in scene [object_manager.py: 1238] +05/25 11:02:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:16:16 INFO: [Worker 0] Worker 0 house 253 episode 1 object objapatch_0d3e057f882d4d2093e7dbed9fd26a31_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 11:16:22 INFO: [Worker 0] Batching and saving trajectory data for house_253: 2 episodes [pipeline.py: 233] +05/25 11:16:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:16:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:16:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:16:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:16:31 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_253 [save_utils.py: 703] +05/25 11:16:31 INFO: [Worker 0] Successfully saved trajectory data for house_253 in 8.53s (batch: 8.27s, save: 0.26s) [pipeline.py: 280] +05/25 11:16:31 WARNING: [Worker 0] No trajectory data to save for house_253 [pipeline.py: 229] +05/25 11:16:31 INFO: [Worker 0] Worker 0 completed house 253: 0/2 successful episodes [pipeline.py: 1243] +05/25 11:16:31 INFO: [Worker 0] Worker 0 starting house 265 (index 4/112) [pipeline.py: 473] +05/25 11:16:31 INFO: [Worker 0] Loaded 1 episodes for house 265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:16:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 11:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bf83213efac34b3cb2ad6ac5ddaf05d9 [json_eval_task_sampler.py: 648] +05/25 11:16:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9 [json_eval_task_sampler.py: 648] +05/25 11:16:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_265_ceiling.xml [task_sampler.py: 797] +05/25 11:16:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:16:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:16:37 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/25 11:16:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:16:37 INFO: [Worker 0] Sampled task 'Pick up the vintage camera with pink accents and place it in or on the round metallic dish' [task_sampler.py: 1136] +05/25 11:16:37 INFO: [Worker 0] Worker 0 house 265 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:16:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:16:37 WARNING: [Worker 0] Could not find object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_7 in scene [object_manager.py: 1238] +05/25 11:29:53 INFO: [Worker 0] Worker 0 house 265 episode 0 object objainstantcamera_8fdc1e32d83b43d0b8daf83e863e639f_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 11:29:59 INFO: [Worker 0] Batching and saving trajectory data for house_265: 1 episodes [pipeline.py: 233] +05/25 11:29:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:30:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:30:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_265 [save_utils.py: 703] +05/25 11:30:04 INFO: [Worker 0] Successfully saved trajectory data for house_265 in 4.73s (batch: 4.47s, save: 0.26s) [pipeline.py: 280] +05/25 11:30:05 WARNING: [Worker 0] No trajectory data to save for house_265 [pipeline.py: 229] +05/25 11:30:05 INFO: [Worker 0] Worker 0 completed house 265: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:30:05 INFO: [Worker 0] Worker 0 starting house 312 (index 5/112) [pipeline.py: 473] +05/25 11:30:05 INFO: [Worker 0] Loaded 1 episodes for house 312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:30:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:30:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/25 11:30:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/25 11:30:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 11:30:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_312_ceiling.xml [task_sampler.py: 797] +05/25 11:30:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:30:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:30:09 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/25 11:30:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:30:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:30:09 INFO: [Worker 0] Sampled task 'Pick up the card with pink bow and place it in or on the rustic light wooden box' [task_sampler.py: 1136] +05/25 11:30:09 INFO: [Worker 0] Worker 0 house 312 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:30:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:30:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:39:29 INFO: [Worker 0] Worker 0 house 312 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 11:39:34 INFO: [Worker 0] Batching and saving trajectory data for house_312: 1 episodes [pipeline.py: 233] +05/25 11:39:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:39:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:39:38 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_312 [save_utils.py: 703] +05/25 11:39:38 INFO: [Worker 0] Successfully saved trajectory data for house_312 in 4.28s (batch: 4.01s, save: 0.28s) [pipeline.py: 280] +05/25 11:39:39 WARNING: [Worker 0] No trajectory data to save for house_312 [pipeline.py: 229] +05/25 11:39:39 INFO: [Worker 0] Worker 0 completed house 312: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:39:39 INFO: [Worker 0] Worker 0 starting house 356 (index 6/112) [pipeline.py: 473] +05/25 11:39:39 INFO: [Worker 0] Loaded 1 episodes for house 356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:39:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:39:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 11:39:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/25 11:39:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5 [json_eval_task_sampler.py: 648] +05/25 11:39:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_356_ceiling.xml [task_sampler.py: 797] +05/25 11:39:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=356, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:39:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:39:46 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 11:39:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:39:46 INFO: [Worker 0] Sampled task 'Pick up the blue plaque with 2021 gold numbers and place it in or on the handmade rustic clay bowl with inscriptions' [task_sampler.py: 1136] +05/25 11:39:46 INFO: [Worker 0] Worker 0 house 356 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:39:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:39:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:46:47 INFO: [Worker 0] Worker 0 house 356 episode 0 object objadecorativeplaque_f0ec4b9ca5834f2b8c58a40bd103ce67_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 11:46:52 INFO: [Worker 0] Batching and saving trajectory data for house_356: 1 episodes [pipeline.py: 233] +05/25 11:46:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:46:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:46:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_356 [save_utils.py: 703] +05/25 11:46:56 INFO: [Worker 0] Successfully saved trajectory data for house_356 in 4.18s (batch: 3.82s, save: 0.35s) [pipeline.py: 280] +05/25 11:46:57 WARNING: [Worker 0] No trajectory data to save for house_356 [pipeline.py: 229] +05/25 11:46:57 INFO: [Worker 0] Worker 0 completed house 356: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:46:57 INFO: [Worker 0] Worker 0 starting house 409 (index 7/112) [pipeline.py: 473] +05/25 11:46:57 INFO: [Worker 0] Loaded 1 episodes for house 409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:46:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:46:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_9 [json_eval_task_sampler.py: 648] +05/25 11:46:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 11:46:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/25 11:46:58 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 11:47:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_409_ceiling.xml [task_sampler.py: 797] +05/25 11:47:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=409, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:47:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:47:01 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 11:47:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:47:01 INFO: [Worker 0] Sampled task 'Pick up the green garden hose nozzle and place it in or on the translucent smooth glass conical bowl' [task_sampler.py: 1136] +05/25 11:47:01 INFO: [Worker 0] Worker 0 house 409 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:47:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:47:02 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_2 in scene [object_manager.py: 1238] +05/25 11:47:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:51:26 INFO: [Worker 0] Worker 0 house 409 episode 0 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 11:51:30 INFO: [Worker 0] Batching and saving trajectory data for house_409: 1 episodes [pipeline.py: 233] +05/25 11:51:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:51:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:51:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_409 [save_utils.py: 703] +05/25 11:51:33 INFO: [Worker 0] Successfully saved trajectory data for house_409 in 3.08s (batch: 2.92s, save: 0.15s) [pipeline.py: 280] +05/25 11:51:34 WARNING: [Worker 0] No trajectory data to save for house_409 [pipeline.py: 229] +05/25 11:51:34 INFO: [Worker 0] Worker 0 completed house 409: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:51:34 INFO: [Worker 0] Worker 0 starting house 476 (index 8/112) [pipeline.py: 473] +05/25 11:51:34 INFO: [Worker 0] Loaded 1 episodes for house 476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:51:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:51:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 11:51:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/25 11:51:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5f6ab8152ec9440e9b922def5ae8b8b2 [json_eval_task_sampler.py: 648] +05/25 11:51:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_476_ceiling.xml [task_sampler.py: 797] +05/25 11:51:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=476, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:51:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:51:47 INFO: [Worker 0] randomize_scene: Setting poses for 108 objects [json_eval_task_sampler.py: 686] +05/25 11:51:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:51:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:51:47 INFO: [Worker 0] Sampled task 'Pick up the beige clay piece with label and place it in or on the glossy marbled gray bowl' [task_sampler.py: 1136] +05/25 11:51:47 INFO: [Worker 0] Worker 0 house 476 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:51:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:51:48 WARNING: [Worker 0] Could not find object objadecorativewedge_dd786d68ed5144d0a2f5b81f77c174e5_1_0_6 in scene [object_manager.py: 1238] +05/25 11:51:48 WARNING: [Worker 0] Could not find object laptop_774f5d829129221a1b006d4b20ac3bbf_1_0_6 in scene [object_manager.py: 1238] +05/25 11:51:48 WARNING: [Worker 0] Could not find object objatooth_5e89ddbfc6454e2e8e09c645574b8932_1_0_9 in scene [object_manager.py: 1238] +05/25 11:51:48 WARNING: [Worker 0] Could not find object soapdispenser_5d19aa492cef980f8e362cf6547b6531_1_0_9 in scene [object_manager.py: 1238] +05/25 11:51:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:57:21 INFO: [Worker 0] Worker 0 house 476 episode 0 object objaclaysample_32eea43c6c0e4c76a447111bb191ab5c_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:57:26 INFO: [Worker 0] Batching and saving trajectory data for house_476: 1 episodes [pipeline.py: 233] +05/25 11:57:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:57:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:57:29 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_476 [save_utils.py: 703] +05/25 11:57:29 INFO: [Worker 0] Successfully saved trajectory data for house_476 in 3.71s (batch: 3.46s, save: 0.26s) [pipeline.py: 280] +05/25 11:57:30 WARNING: [Worker 0] No trajectory data to save for house_476 [pipeline.py: 229] +05/25 11:57:30 INFO: [Worker 0] Worker 0 completed house 476: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:57:30 INFO: [Worker 0] Worker 0 starting house 508 (index 9/112) [pipeline.py: 473] +05/25 11:57:30 INFO: [Worker 0] Loaded 1 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 11:57:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:57:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 11:57:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 11:57:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_4 [json_eval_task_sampler.py: 648] +05/25 11:57:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_508_ceiling.xml [task_sampler.py: 797] +05/25 11:57:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:57:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:57:35 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 11:57:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:57:35 INFO: [Worker 0] Sampled task 'Pick up the shiny golden chain and place it in or on the round wooden bowl' [task_sampler.py: 1136] +05/25 11:57:35 INFO: [Worker 0] Worker 0 house 508 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:57:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:57:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:06:02 INFO: [Worker 0] Worker 0 house 508 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:06:06 INFO: [Worker 0] Batching and saving trajectory data for house_508: 1 episodes [pipeline.py: 233] +05/25 12:06:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:06:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:06:09 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_508 [save_utils.py: 703] +05/25 12:06:09 INFO: [Worker 0] Successfully saved trajectory data for house_508 in 2.88s (batch: 2.73s, save: 0.15s) [pipeline.py: 280] +05/25 12:06:09 WARNING: [Worker 0] No trajectory data to save for house_508 [pipeline.py: 229] +05/25 12:06:09 INFO: [Worker 0] Worker 0 completed house 508: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:06:09 INFO: [Worker 0] Worker 0 starting house 542 (index 10/112) [pipeline.py: 473] +05/25 12:06:09 INFO: [Worker 0] Loaded 1 episodes for house 542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:06:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/25 12:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 12:06:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d [json_eval_task_sampler.py: 648] +05/25 12:06:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_542_ceiling.xml [task_sampler.py: 797] +05/25 12:06:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:06:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:06:12 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/25 12:06:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:06:12 INFO: [Worker 0] Sampled task 'Pick up the toy figure with green hat and stick and place it in or on the rustic bowl' [task_sampler.py: 1136] +05/25 12:06:12 INFO: [Worker 0] Worker 0 house 542 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:06:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:06:12 WARNING: [Worker 0] Could not find object objatelephonehandset_9901c7cce9d74a48bd15c9bb290b6fce_1_0_2 in scene [object_manager.py: 1238] +05/25 12:06:12 WARNING: [Worker 0] Could not find object objadrillbit_bcf311e35d6b40ac92f0350faf11c15b_1_0_2 in scene [object_manager.py: 1238] +05/25 12:06:12 WARNING: [Worker 0] Could not find object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 in scene [object_manager.py: 1238] +05/25 12:06:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:12:02 INFO: [Worker 0] Worker 0 house 542 episode 0 object objatoyfigure_2982698a3b314179bfcb699e0bf325ef_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 12:12:05 INFO: [Worker 0] Batching and saving trajectory data for house_542: 1 episodes [pipeline.py: 233] +05/25 12:12:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:12:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:12:08 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_542 [save_utils.py: 703] +05/25 12:12:08 INFO: [Worker 0] Successfully saved trajectory data for house_542 in 2.88s (batch: 2.73s, save: 0.15s) [pipeline.py: 280] +05/25 12:12:09 WARNING: [Worker 0] No trajectory data to save for house_542 [pipeline.py: 229] +05/25 12:12:09 INFO: [Worker 0] Worker 0 completed house 542: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:12:09 INFO: [Worker 0] Worker 0 starting house 1048 (index 11/112) [pipeline.py: 473] +05/25 12:12:09 INFO: [Worker 0] Loaded 1 episodes for house 1048 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:12:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:12:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/25 12:12:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/25 12:12:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 12:12:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1048_ceiling.xml [task_sampler.py: 797] +05/25 12:12:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1048, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:12:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:12:16 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/25 12:12:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:12:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:12:16 INFO: [Worker 0] Sampled task 'Pick up the taxidermybird and place it in or on the rustic clay bowl' [task_sampler.py: 1136] +05/25 12:12:16 INFO: [Worker 0] Worker 0 house 1048 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:12:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:18:00 INFO: [Worker 0] Worker 0 house 1048 episode 0 object objataxidermybird_5be5c716bcc94353a07054590cd06ab6_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:18:04 INFO: [Worker 0] Batching and saving trajectory data for house_1048: 1 episodes [pipeline.py: 233] +05/25 12:18:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:18:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:18:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1048 [save_utils.py: 703] +05/25 12:18:07 INFO: [Worker 0] Successfully saved trajectory data for house_1048 in 3.06s (batch: 2.93s, save: 0.12s) [pipeline.py: 280] +05/25 12:18:07 WARNING: [Worker 0] No trajectory data to save for house_1048 [pipeline.py: 229] +05/25 12:18:07 INFO: [Worker 0] Worker 0 completed house 1048: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:18:07 INFO: [Worker 0] Worker 0 starting house 1069 (index 12/112) [pipeline.py: 473] +05/25 12:18:07 INFO: [Worker 0] Loaded 2 episodes for house 1069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:18:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 12:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/25 12:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4 [json_eval_task_sampler.py: 648] +05/25 12:18:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1069_ceiling.xml [task_sampler.py: 797] +05/25 12:18:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:18:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:18:14 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/25 12:18:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:18:14 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the red and black chicken food container' [task_sampler.py: 1136] +05/25 12:18:14 INFO: [Worker 0] Worker 0 house 1069 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 12:18:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:18:15 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_2_0_9 in scene [object_manager.py: 1238] +05/25 12:18:15 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene [object_manager.py: 1238] +05/25 12:20:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:24:31 INFO: [Worker 0] Worker 0 house 1069 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 12:24:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 12:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/25 12:24:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/42f50ecee3da4df498c0e1b4319366a4 [json_eval_task_sampler.py: 648] +05/25 12:24:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1069_ceiling.xml [task_sampler.py: 797] +05/25 12:24:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:24:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:24:44 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/25 12:24:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:24:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:24:44 INFO: [Worker 0] Sampled task 'Pick up the decorative golden key with omega and place it in or on the dark gray matte bowl with ridges' [task_sampler.py: 1136] +05/25 12:24:44 INFO: [Worker 0] Worker 0 house 1069 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 12:24:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:24:44 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_2_0_9 in scene [object_manager.py: 1238] +05/25 12:24:44 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene [object_manager.py: 1238] +05/25 12:28:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:47:47 INFO: [Worker 0] Worker 0 house 1069 episode 1 object objadecorativekey_0848d874fe334991962d88f710ddc37a_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 12:47:52 INFO: [Worker 0] Batching and saving trajectory data for house_1069: 2 episodes [pipeline.py: 233] +05/25 12:47:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:47:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:47:59 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1069 [save_utils.py: 703] +05/25 12:47:59 INFO: [Worker 0] Successfully saved trajectory data for house_1069 in 7.38s (batch: 7.06s, save: 0.32s) [pipeline.py: 280] +05/25 12:48:00 WARNING: [Worker 0] No trajectory data to save for house_1069 [pipeline.py: 229] +05/25 12:48:00 INFO: [Worker 0] Worker 0 completed house 1069: 0/2 successful episodes [pipeline.py: 1243] +05/25 12:48:00 INFO: [Worker 0] Worker 0 starting house 1087 (index 13/112) [pipeline.py: 473] +05/25 12:48:00 INFO: [Worker 0] Loaded 1 episodes for house 1087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:48:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:48:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d [json_eval_task_sampler.py: 648] +05/25 12:48:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 12:48:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/dc75becfc0104a358ad1354b65d19475 [json_eval_task_sampler.py: 648] +05/25 12:48:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1087_ceiling.xml [task_sampler.py: 797] +05/25 12:48:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1087, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:48:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:48:08 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/25 12:48:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:48:08 INFO: [Worker 0] Sampled task 'Pick up the antique hand mirror with floral and place it in or on the glossy black bowl with colorful grid' [task_sampler.py: 1136] +05/25 12:48:08 INFO: [Worker 0] Worker 0 house 1087 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:48:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:48:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:48:41 INFO: [Worker 0] Worker 0 house 1087 episode 0 object objahandmirror_356c4b59d2b14b5a841475d01d4e82aa_3_0_4 completed with success=True [pipeline.py: 1114] +05/25 12:48:45 INFO: [Worker 0] Batching and saving trajectory data for house_1087: 1 episodes [pipeline.py: 233] +05/25 12:48:45 INFO: [Worker 0] Preparing episode data: 46 timesteps [save_utils.py: 284] +05/25 12:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:48:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1087 [save_utils.py: 703] +05/25 12:48:47 INFO: [Worker 0] Successfully saved trajectory data for house_1087 in 2.53s (batch: 2.48s, save: 0.06s) [pipeline.py: 280] +05/25 12:48:48 WARNING: [Worker 0] No trajectory data to save for house_1087 [pipeline.py: 229] +05/25 12:48:48 INFO: [Worker 0] Worker 0 completed house 1087: 1/1 successful episodes [pipeline.py: 1243] +05/25 12:48:48 INFO: [Worker 0] Worker 0 starting house 1126 (index 14/112) [pipeline.py: 473] +05/25 12:48:48 INFO: [Worker 0] Loaded 1 episodes for house 1126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:48:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 12:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f [json_eval_task_sampler.py: 648] +05/25 12:48:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/25 12:48:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1126_ceiling.xml [task_sampler.py: 797] +05/25 12:48:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1126, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:48:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:48:51 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/25 12:48:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:48:51 INFO: [Worker 0] Sampled task 'Pick up the tall white candle on golden holder and place it in or on the pixelated ramen bowl' [task_sampler.py: 1136] +05/25 12:48:51 INFO: [Worker 0] Worker 0 house 1126 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:54:01 INFO: [Worker 0] Worker 0 house 1126 episode 0 object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:54:05 INFO: [Worker 0] Batching and saving trajectory data for house_1126: 1 episodes [pipeline.py: 233] +05/25 12:54:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:54:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:54:08 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1126 [save_utils.py: 703] +05/25 12:54:08 INFO: [Worker 0] Successfully saved trajectory data for house_1126 in 3.31s (batch: 3.14s, save: 0.18s) [pipeline.py: 280] +05/25 12:54:09 WARNING: [Worker 0] No trajectory data to save for house_1126 [pipeline.py: 229] +05/25 12:54:09 INFO: [Worker 0] Worker 0 completed house 1126: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:54:09 INFO: [Worker 0] Worker 0 starting house 1185 (index 15/112) [pipeline.py: 473] +05/25 12:54:09 INFO: [Worker 0] Loaded 1 episodes for house 1185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:54:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:54:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 12:54:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_9 [json_eval_task_sampler.py: 648] +05/25 12:54:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 12:54:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1185_ceiling.xml [task_sampler.py: 797] +05/25 12:54:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1185, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:54:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:54:14 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 12:54:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:54:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:54:14 INFO: [Worker 0] Sampled task 'Pick up the glass eye and place it in or on the blue ceramic bowl' [task_sampler.py: 1136] +05/25 12:54:14 INFO: [Worker 0] Worker 0 house 1185 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:54:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:54:15 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene [object_manager.py: 1238] +05/25 12:58:36 INFO: [Worker 0] Worker 0 house 1185 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 12:58:41 INFO: [Worker 0] Batching and saving trajectory data for house_1185: 1 episodes [pipeline.py: 233] +05/25 12:58:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:58:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:58:44 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1185 [save_utils.py: 703] +05/25 12:58:44 INFO: [Worker 0] Successfully saved trajectory data for house_1185 in 3.45s (batch: 3.30s, save: 0.16s) [pipeline.py: 280] +05/25 12:58:45 WARNING: [Worker 0] No trajectory data to save for house_1185 [pipeline.py: 229] +05/25 12:58:45 INFO: [Worker 0] Worker 0 completed house 1185: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:58:45 INFO: [Worker 0] Worker 0 starting house 1248 (index 16/112) [pipeline.py: 473] +05/25 12:58:45 INFO: [Worker 0] Loaded 2 episodes for house 1248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 12:58:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:58:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/25 12:58:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/25 12:58:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/25 12:58:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1248_ceiling.xml [task_sampler.py: 797] +05/25 12:58:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1248, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:58:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:58:57 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 12:58:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:58:57 INFO: [Worker 0] Sampled task 'Pick up the writing implement and place it in or on the dark wooden bowl with light interior' [task_sampler.py: 1136] +05/25 12:58:57 INFO: [Worker 0] Worker 0 house 1248 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 12:58:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:58:58 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene [object_manager.py: 1238] +05/25 12:58:58 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/25 13:01:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:07:18 INFO: [Worker 0] Worker 0 house 1248 episode 0 object objapencil_43977640cba7439e96bda929009ebd32_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:07:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:07:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/25 13:07:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/25 13:07:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/25 13:07:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1248_ceiling.xml [task_sampler.py: 797] +05/25 13:07:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1248, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:07:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:07:37 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 13:07:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:07:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:07:37 INFO: [Worker 0] Sampled task 'Pick up the phone case and place it in or on the dark wooden bowl with light interior' [task_sampler.py: 1136] +05/25 13:07:37 INFO: [Worker 0] Worker 0 house 1248 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 13:07:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:07:38 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene [object_manager.py: 1238] +05/25 13:07:38 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/25 13:11:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:21:22 INFO: [Worker 0] Worker 0 house 1248 episode 1 object objaphonecase_99fa689a1f66458ba5025088aebd974e_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:21:29 INFO: [Worker 0] Batching and saving trajectory data for house_1248: 2 episodes [pipeline.py: 233] +05/25 13:21:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:21:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:21:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:21:39 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1248 [save_utils.py: 703] +05/25 13:21:39 INFO: [Worker 0] Successfully saved trajectory data for house_1248 in 10.72s (batch: 10.42s, save: 0.30s) [pipeline.py: 280] +05/25 13:21:41 WARNING: [Worker 0] No trajectory data to save for house_1248 [pipeline.py: 229] +05/25 13:21:41 INFO: [Worker 0] Worker 0 completed house 1248: 0/2 successful episodes [pipeline.py: 1243] +05/25 13:21:41 INFO: [Worker 0] Worker 0 starting house 1252 (index 17/112) [pipeline.py: 473] +05/25 13:21:41 INFO: [Worker 0] Loaded 1 episodes for house 1252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:21:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:21:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 13:21:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 13:21:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_14 [json_eval_task_sampler.py: 648] +05/25 13:21:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1252_ceiling.xml [task_sampler.py: 797] +05/25 13:21:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1252, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:21:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:21:49 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 13:21:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:21:50 INFO: [Worker 0] Sampled task 'Pick up the pink rods with silver tops decoration and place it in or on the dark pot with handles' [task_sampler.py: 1136] +05/25 13:21:50 INFO: [Worker 0] Worker 0 house 1252 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:21:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:21:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:28:43 INFO: [Worker 0] Worker 0 house 1252 episode 0 object objadecorativepiece_4d49a98fc2a4450c92ea3b049a942c10_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 13:28:48 INFO: [Worker 0] Batching and saving trajectory data for house_1252: 1 episodes [pipeline.py: 233] +05/25 13:28:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:28:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:28:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1252 [save_utils.py: 703] +05/25 13:28:52 INFO: [Worker 0] Successfully saved trajectory data for house_1252 in 3.75s (batch: 3.45s, save: 0.29s) [pipeline.py: 280] +05/25 13:28:53 WARNING: [Worker 0] No trajectory data to save for house_1252 [pipeline.py: 229] +05/25 13:28:53 INFO: [Worker 0] Worker 0 completed house 1252: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:28:53 INFO: [Worker 0] Worker 0 starting house 1322 (index 18/112) [pipeline.py: 473] +05/25 13:28:53 INFO: [Worker 0] Loaded 1 episodes for house 1322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:28:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:28:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11 [json_eval_task_sampler.py: 648] +05/25 13:28:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/25 13:28:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_14 [json_eval_task_sampler.py: 648] +05/25 13:28:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1322_ceiling.xml [task_sampler.py: 797] +05/25 13:28:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1322, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:28:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:28:58 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 13:28:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:28:58 INFO: [Worker 0] Sampled task 'Pick up the glossy red pink flower and place it in or on the polished wooden bowl with contrast' [task_sampler.py: 1136] +05/25 13:28:58 INFO: [Worker 0] Worker 0 house 1322 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:28:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:28:58 WARNING: [Worker 0] Could not find object objaartificialflower_1141493c75824b3899737d80fe42cb99_1_0_7 in scene [object_manager.py: 1238] +05/25 13:28:58 WARNING: [Worker 0] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_7 in scene [object_manager.py: 1238] +05/25 13:31:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:36:23 INFO: [Worker 0] Worker 0 house 1322 episode 0 object objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 13:36:27 INFO: [Worker 0] Batching and saving trajectory data for house_1322: 1 episodes [pipeline.py: 233] +05/25 13:36:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:36:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:36:30 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1322 [save_utils.py: 703] +05/25 13:36:30 INFO: [Worker 0] Successfully saved trajectory data for house_1322 in 3.07s (batch: 2.90s, save: 0.18s) [pipeline.py: 280] +05/25 13:36:31 WARNING: [Worker 0] No trajectory data to save for house_1322 [pipeline.py: 229] +05/25 13:36:31 INFO: [Worker 0] Worker 0 completed house 1322: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:36:31 INFO: [Worker 0] Worker 0 starting house 1396 (index 19/112) [pipeline.py: 473] +05/25 13:36:31 INFO: [Worker 0] Loaded 1 episodes for house 1396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:36:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_25 [json_eval_task_sampler.py: 648] +05/25 13:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfdeafe4916c421e91dce2acb972d0f8 [json_eval_task_sampler.py: 648] +05/25 13:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/25 13:36:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1396_ceiling.xml [task_sampler.py: 797] +05/25 13:36:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1396, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:36:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:36:38 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/25 13:36:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:36:38 INFO: [Worker 0] Sampled task 'Pick up the paintbrush with wooden handle and place it in or on the metal tray' [task_sampler.py: 1136] +05/25 13:36:38 INFO: [Worker 0] Worker 0 house 1396 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:36:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:36:38 WARNING: [Worker 0] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene [object_manager.py: 1238] +05/25 13:36:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:40:58 INFO: [Worker 0] Worker 0 house 1396 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:41:03 INFO: [Worker 0] Batching and saving trajectory data for house_1396: 1 episodes [pipeline.py: 233] +05/25 13:41:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:41:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:41:06 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1396 [save_utils.py: 703] +05/25 13:41:06 INFO: [Worker 0] Successfully saved trajectory data for house_1396 in 3.40s (batch: 3.25s, save: 0.15s) [pipeline.py: 280] +05/25 13:41:07 WARNING: [Worker 0] No trajectory data to save for house_1396 [pipeline.py: 229] +05/25 13:41:07 INFO: [Worker 0] Worker 0 completed house 1396: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:41:07 INFO: [Worker 0] Worker 0 starting house 1473 (index 20/112) [pipeline.py: 473] +05/25 13:41:07 INFO: [Worker 0] Loaded 1 episodes for house 1473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:41:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:41:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 13:41:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 13:41:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/937044a40c3845bf88639056005b8a75 [json_eval_task_sampler.py: 648] +05/25 13:41:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1473_ceiling.xml [task_sampler.py: 797] +05/25 13:41:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1473, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:41:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:41:16 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/25 13:41:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:41:16 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular soap bar with text and place it in or on the brown bowl' [task_sampler.py: 1136] +05/25 13:41:16 INFO: [Worker 0] Worker 0 house 1473 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:41:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:41:16 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/25 13:41:16 WARNING: [Worker 0] Could not find object objarunningshoe_23f04afb5ef44cadb4930ceb2e1a0dcd_1_0_7 in scene [object_manager.py: 1238] +05/25 13:41:16 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene [object_manager.py: 1238] +05/25 13:41:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:46:49 INFO: [Worker 0] Worker 0 house 1473 episode 0 object objasoap_dd4f76ca92e647ba804a3a1a19cb5c56_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 13:46:53 INFO: [Worker 0] Batching and saving trajectory data for house_1473: 1 episodes [pipeline.py: 233] +05/25 13:46:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:46:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:46:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1473 [save_utils.py: 703] +05/25 13:46:56 INFO: [Worker 0] Successfully saved trajectory data for house_1473 in 2.98s (batch: 2.83s, save: 0.15s) [pipeline.py: 280] +05/25 13:46:57 WARNING: [Worker 0] No trajectory data to save for house_1473 [pipeline.py: 229] +05/25 13:46:57 INFO: [Worker 0] Worker 0 completed house 1473: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:46:57 INFO: [Worker 0] Worker 0 starting house 1531 (index 21/112) [pipeline.py: 473] +05/25 13:46:57 INFO: [Worker 0] Loaded 1 episodes for house 1531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:46:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:47:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/25 13:47:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/25 13:47:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 13:47:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1531_ceiling.xml [task_sampler.py: 797] +05/25 13:47:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1531, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:47:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:47:08 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/25 13:47:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:47:08 INFO: [Worker 0] Sampled task 'Pick up the sandal and place it in or on the rustic earthy bowl with texture' [task_sampler.py: 1136] +05/25 13:47:08 INFO: [Worker 0] Worker 0 house 1531 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:47:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:58:10 INFO: [Worker 0] Worker 0 house 1531 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 13:58:16 INFO: [Worker 0] Batching and saving trajectory data for house_1531: 1 episodes [pipeline.py: 233] +05/25 13:58:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:58:20 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1531 [save_utils.py: 703] +05/25 13:58:20 INFO: [Worker 0] Successfully saved trajectory data for house_1531 in 3.66s (batch: 3.48s, save: 0.18s) [pipeline.py: 280] +05/25 13:58:21 WARNING: [Worker 0] No trajectory data to save for house_1531 [pipeline.py: 229] +05/25 13:58:21 INFO: [Worker 0] Worker 0 completed house 1531: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:58:21 INFO: [Worker 0] Worker 0 starting house 1562 (index 22/112) [pipeline.py: 473] +05/25 13:58:21 INFO: [Worker 0] Loaded 1 episodes for house 1562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 13:58:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:58:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/25 13:58:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_11 [json_eval_task_sampler.py: 648] +05/25 13:58:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b8cba8b5a69543ce9875c40028261490 [json_eval_task_sampler.py: 648] +05/25 13:58:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1562_ceiling.xml [task_sampler.py: 797] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1562, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 13:58:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:58:30 INFO: [Worker 0] Sampled task 'Pick up the crumpled foil and place it in or on the white bowl' [task_sampler.py: 1136] +05/25 13:58:30 INFO: [Worker 0] Worker 0 house 1562 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:58:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:58:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:07:56 INFO: [Worker 0] Worker 0 house 1562 episode 0 object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 14:08:02 INFO: [Worker 0] Batching and saving trajectory data for house_1562: 1 episodes [pipeline.py: 233] +05/25 14:08:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:08:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:08:06 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1562 [save_utils.py: 703] +05/25 14:08:06 INFO: [Worker 0] Successfully saved trajectory data for house_1562 in 4.20s (batch: 3.99s, save: 0.22s) [pipeline.py: 280] +05/25 14:08:07 WARNING: [Worker 0] No trajectory data to save for house_1562 [pipeline.py: 229] +05/25 14:08:07 INFO: [Worker 0] Worker 0 completed house 1562: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:08:07 INFO: [Worker 0] Worker 0 starting house 1571 (index 23/112) [pipeline.py: 473] +05/25 14:08:07 INFO: [Worker 0] Loaded 2 episodes for house 1571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 14:08:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:08:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 14:08:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/25 14:08:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/25 14:08:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1571_ceiling.xml [task_sampler.py: 797] +05/25 14:08:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1571, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:08:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:08:17 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/25 14:08:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:08:17 INFO: [Worker 0] Sampled task 'Pick up the light blue baby pacifier with handle and place it in or on the ceramic bowl' [task_sampler.py: 1136] +05/25 14:08:17 INFO: [Worker 0] Worker 0 house 1571 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 14:08:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:08:19 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_2_0_5 in scene [object_manager.py: 1238] +05/25 14:08:19 WARNING: [Worker 0] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_5 in scene [object_manager.py: 1238] +05/25 14:08:19 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 14:17:29 INFO: [Worker 0] Worker 0 house 1571 episode 0 object objapacifier_4cfd22261c1848bf923a16d2947568b0_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 14:17:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:17:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 14:17:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/25 14:17:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/25 14:17:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1571_ceiling.xml [task_sampler.py: 797] +05/25 14:17:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1571, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:17:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:17:44 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/25 14:17:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:17:44 INFO: [Worker 0] Sampled task 'Pick up the weathered metal vintage megaphone with handle and place it in or on the maroon rectangular box with patterns' [task_sampler.py: 1136] +05/25 14:17:44 INFO: [Worker 0] Worker 0 house 1571 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 14:17:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:17:44 WARNING: [Worker 0] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_2_0_5 in scene [object_manager.py: 1238] +05/25 14:17:44 WARNING: [Worker 0] Could not find object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_5 in scene [object_manager.py: 1238] +05/25 14:17:44 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 14:21:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:28:54 INFO: [Worker 0] Worker 0 house 1571 episode 1 object objamegaphone_2a8e8d85673b4d7782d409decc0a557f_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 14:29:00 INFO: [Worker 0] Batching and saving trajectory data for house_1571: 2 episodes [pipeline.py: 233] +05/25 14:29:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:29:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:29:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:29:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:29:08 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1571 [save_utils.py: 703] +05/25 14:29:08 INFO: [Worker 0] Successfully saved trajectory data for house_1571 in 7.61s (batch: 7.24s, save: 0.37s) [pipeline.py: 280] +05/25 14:29:09 WARNING: [Worker 0] No trajectory data to save for house_1571 [pipeline.py: 229] +05/25 14:29:09 INFO: [Worker 0] Worker 0 completed house 1571: 0/2 successful episodes [pipeline.py: 1243] +05/25 14:29:09 INFO: [Worker 0] Worker 0 starting house 1609 (index 24/112) [pipeline.py: 473] +05/25 14:29:09 INFO: [Worker 0] Loaded 1 episodes for house 1609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 14:29:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:29:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 14:29:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f42af504c27649c78412bafd25665e46 [json_eval_task_sampler.py: 648] +05/25 14:29:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 14:29:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1609_ceiling.xml [task_sampler.py: 797] +05/25 14:29:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1609, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:29:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:29:12 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 14:29:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:29:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:29:12 INFO: [Worker 0] Sampled task 'Pick up the realistic small white bird with feathers and place it in or on the black bowl with colorful grid' [task_sampler.py: 1136] +05/25 14:29:12 INFO: [Worker 0] Worker 0 house 1609 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:29:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:29:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:35:44 INFO: [Worker 0] Worker 0 house 1609 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 14:35:50 INFO: [Worker 0] Batching and saving trajectory data for house_1609: 1 episodes [pipeline.py: 233] +05/25 14:35:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:35:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:35:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1609 [save_utils.py: 703] +05/25 14:35:54 INFO: [Worker 0] Successfully saved trajectory data for house_1609 in 3.86s (batch: 3.59s, save: 0.26s) [pipeline.py: 280] +05/25 14:35:55 WARNING: [Worker 0] No trajectory data to save for house_1609 [pipeline.py: 229] +05/25 14:35:55 INFO: [Worker 0] Worker 0 completed house 1609: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:35:55 INFO: [Worker 0] Worker 0 starting house 1662 (index 25/112) [pipeline.py: 473] +05/25 14:35:55 INFO: [Worker 0] Loaded 1 episodes for house 1662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 14:35:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:36:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/25 14:36:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/25 14:36:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 14:36:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1662_ceiling.xml [task_sampler.py: 797] +05/25 14:36:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1662, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:36:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:36:09 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/25 14:36:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:36:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:36:09 INFO: [Worker 0] Sampled task 'Pick up the metallic wrench with dual ends and place it in or on the handmade round rustic ceramic bowl' [task_sampler.py: 1136] +05/25 14:36:09 INFO: [Worker 0] Worker 0 house 1662 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:36:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:36:11 WARNING: [Worker 0] Could not find object objadeskcalendar_272ecf3874af4395b264b86ae78fd827_1_0_3 in scene [object_manager.py: 1238] +05/25 14:36:11 WARNING: [Worker 0] Could not find object plate_c3123dc7adfd8f0c1b52b4ffcd033c97_1_0_3 in scene [object_manager.py: 1238] +05/25 14:36:11 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene [object_manager.py: 1238] +05/25 14:36:11 WARNING: [Worker 0] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_5 in scene [object_manager.py: 1238] +05/25 14:36:11 WARNING: [Worker 0] Could not find object objasneaker_17dff61f1b7d4ff1ab9b7279777977fa_1_0_5 in scene [object_manager.py: 1238] +05/25 14:36:11 WARNING: [Worker 0] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_1_0_5 in scene [object_manager.py: 1238] +05/25 14:36:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:49:40 INFO: [Worker 0] Worker 0 house 1662 episode 0 object objawrench_3f51b7163d414073b199ac09ba297e6f_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 14:49:44 INFO: [Worker 0] Batching and saving trajectory data for house_1662: 1 episodes [pipeline.py: 233] +05/25 14:49:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:49:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:49:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1662 [save_utils.py: 703] +05/25 14:49:47 INFO: [Worker 0] Successfully saved trajectory data for house_1662 in 3.33s (batch: 3.19s, save: 0.14s) [pipeline.py: 280] +05/25 14:49:48 WARNING: [Worker 0] No trajectory data to save for house_1662 [pipeline.py: 229] +05/25 14:49:48 INFO: [Worker 0] Worker 0 completed house 1662: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:49:48 INFO: [Worker 0] Worker 0 starting house 1697 (index 26/112) [pipeline.py: 473] +05/25 14:49:48 INFO: [Worker 0] Loaded 1 episodes for house 1697 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 14:49:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:49:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4e33154ce3a40e4bd2b34f8de4f548c [json_eval_task_sampler.py: 648] +05/25 14:49:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 14:49:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 14:49:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1697_ceiling.xml [task_sampler.py: 797] +05/25 14:49:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1697, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:49:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:49:51 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/25 14:49:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:49:51 INFO: [Worker 0] Sampled task 'Pick up the dark t-shaped cleaning squeegee and place it in or on the brown bowl with flowers' [task_sampler.py: 1136] +05/25 14:49:51 INFO: [Worker 0] Worker 0 house 1697 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:49:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:49:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:55:29 INFO: [Worker 0] Worker 0 house 1697 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 14:55:33 INFO: [Worker 0] Batching and saving trajectory data for house_1697: 1 episodes [pipeline.py: 233] +05/25 14:55:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:55:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:55:36 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1697 [save_utils.py: 703] +05/25 14:55:36 INFO: [Worker 0] Successfully saved trajectory data for house_1697 in 3.04s (batch: 2.88s, save: 0.16s) [pipeline.py: 280] +05/25 14:55:36 WARNING: [Worker 0] No trajectory data to save for house_1697 [pipeline.py: 229] +05/25 14:55:36 INFO: [Worker 0] Worker 0 completed house 1697: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:55:36 INFO: [Worker 0] Worker 0 starting house 1746 (index 27/112) [pipeline.py: 473] +05/25 14:55:36 INFO: [Worker 0] Loaded 1 episodes for house 1746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 14:55:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/25 14:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/496bd9f05a714e608a41a24b169937f6 [json_eval_task_sampler.py: 648] +05/25 14:55:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bf83213efac34b3cb2ad6ac5ddaf05d9 [json_eval_task_sampler.py: 648] +05/25 14:55:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1746_ceiling.xml [task_sampler.py: 797] +05/25 14:55:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1746, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:55:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:55:40 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 14:55:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:55:40 INFO: [Worker 0] Sampled task 'Pick up the wooden beaver holding stick and place it in or on the round light ashtray' [task_sampler.py: 1136] +05/25 14:55:40 INFO: [Worker 0] Worker 0 house 1746 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:55:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:55:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:01:24 INFO: [Worker 0] Worker 0 house 1746 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 15:01:29 INFO: [Worker 0] Batching and saving trajectory data for house_1746: 1 episodes [pipeline.py: 233] +05/25 15:01:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:01:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:01:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1746 [save_utils.py: 703] +05/25 15:01:33 INFO: [Worker 0] Successfully saved trajectory data for house_1746 in 4.39s (batch: 4.18s, save: 0.21s) [pipeline.py: 280] +05/25 15:01:34 WARNING: [Worker 0] No trajectory data to save for house_1746 [pipeline.py: 229] +05/25 15:01:34 INFO: [Worker 0] Worker 0 completed house 1746: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:01:34 INFO: [Worker 0] Worker 0 starting house 1789 (index 28/112) [pipeline.py: 473] +05/25 15:01:34 INFO: [Worker 0] Loaded 1 episodes for house 1789 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:01:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:01:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f486de07c6f347588bcd3d22456f328d [json_eval_task_sampler.py: 648] +05/25 15:01:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490 [json_eval_task_sampler.py: 648] +05/25 15:01:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 15:01:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1789_ceiling.xml [task_sampler.py: 797] +05/25 15:01:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1789, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:01:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:01:37 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/25 15:01:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:01:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:01:37 INFO: [Worker 0] Sampled task 'Pick up the shiny gold cursive script and place it in or on the glossy translucent glass bowl' [task_sampler.py: 1136] +05/25 15:01:37 INFO: [Worker 0] Worker 0 house 1789 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:01:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:01:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:02:57 INFO: [Worker 0] Worker 0 house 1789 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 15:03:02 INFO: [Worker 0] Batching and saving trajectory data for house_1789: 1 episodes [pipeline.py: 233] +05/25 15:03:02 INFO: [Worker 0] Preparing episode data: 126 timesteps [save_utils.py: 284] +05/25 15:03:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:03:05 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1789 [save_utils.py: 703] +05/25 15:03:05 INFO: [Worker 0] Successfully saved trajectory data for house_1789 in 3.12s (batch: 2.98s, save: 0.14s) [pipeline.py: 280] +05/25 15:03:06 WARNING: [Worker 0] No trajectory data to save for house_1789 [pipeline.py: 229] +05/25 15:03:06 INFO: [Worker 0] Worker 0 completed house 1789: 1/1 successful episodes [pipeline.py: 1243] +05/25 15:03:06 INFO: [Worker 0] Worker 0 starting house 1850 (index 29/112) [pipeline.py: 473] +05/25 15:03:06 INFO: [Worker 0] Loaded 1 episodes for house 1850 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:03:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:03:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 15:03:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24464015c15b4662a32be7625ae3f75b [json_eval_task_sampler.py: 648] +05/25 15:03:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 15:03:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1850_ceiling.xml [task_sampler.py: 797] +05/25 15:03:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1850, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:03:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:03:12 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 15:03:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:03:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:03:12 INFO: [Worker 0] Sampled task 'Pick up the vhs cassette tape and place it in or on the bowl' [task_sampler.py: 1136] +05/25 15:03:12 INFO: [Worker 0] Worker 0 house 1850 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:03:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:03:13 WARNING: [Worker 0] Could not find object objadecorativecoil_97f4ac9331c74f86abea530ecf480b81_1_0_3 in scene [object_manager.py: 1238] +05/25 15:03:13 WARNING: [Worker 0] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_3 in scene [object_manager.py: 1238] +05/25 15:09:37 INFO: [Worker 0] Worker 0 house 1850 episode 0 object objavhscassettetape_b77c631e3794478d8cc5e603cac65e0e_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 15:09:42 INFO: [Worker 0] Batching and saving trajectory data for house_1850: 1 episodes [pipeline.py: 233] +05/25 15:09:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:09:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:09:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1850 [save_utils.py: 703] +05/25 15:09:47 INFO: [Worker 0] Successfully saved trajectory data for house_1850 in 4.38s (batch: 4.20s, save: 0.18s) [pipeline.py: 280] +05/25 15:09:48 WARNING: [Worker 0] No trajectory data to save for house_1850 [pipeline.py: 229] +05/25 15:09:48 INFO: [Worker 0] Worker 0 completed house 1850: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:09:48 INFO: [Worker 0] Worker 0 starting house 1881 (index 30/112) [pipeline.py: 473] +05/25 15:09:48 INFO: [Worker 0] Loaded 1 episodes for house 1881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:09:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:09:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc [json_eval_task_sampler.py: 648] +05/25 15:09:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 15:09:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 15:09:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1881_ceiling.xml [task_sampler.py: 797] +05/25 15:09:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1881, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:09:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:09:54 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 15:09:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:09:54 INFO: [Worker 0] Sampled task 'Pick up the blue outlined arrow and place it in or on the maroon rectangular box with patterns' [task_sampler.py: 1136] +05/25 15:09:54 INFO: [Worker 0] Worker 0 house 1881 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:09:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:09:55 WARNING: [Worker 0] Could not find object objadecorativebridge_46a2cf30006f46e88681296e4998ffc4_1_0_5 in scene [object_manager.py: 1238] +05/25 15:09:55 WARNING: [Worker 0] Could not find object objadecorativeartifact_5e2d5028e91d4e44bf9effdba17c79f9_1_0_5 in scene [object_manager.py: 1238] +05/25 15:09:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:14:37 INFO: [Worker 0] Worker 0 house 1881 episode 0 object objadecorativearrow_f38febed165240b9aea5289c215c6b65_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 15:14:41 INFO: [Worker 0] Batching and saving trajectory data for house_1881: 1 episodes [pipeline.py: 233] +05/25 15:14:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:14:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:14:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1881 [save_utils.py: 703] +05/25 15:14:45 INFO: [Worker 0] Successfully saved trajectory data for house_1881 in 3.48s (batch: 3.31s, save: 0.17s) [pipeline.py: 280] +05/25 15:14:45 WARNING: [Worker 0] No trajectory data to save for house_1881 [pipeline.py: 229] +05/25 15:14:45 INFO: [Worker 0] Worker 0 completed house 1881: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:14:45 INFO: [Worker 0] Worker 0 starting house 1945 (index 31/112) [pipeline.py: 473] +05/25 15:14:45 INFO: [Worker 0] Loaded 1 episodes for house 1945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:14:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:14:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5 [json_eval_task_sampler.py: 648] +05/25 15:14:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 15:14:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/25 15:14:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1945_ceiling.xml [task_sampler.py: 797] +05/25 15:14:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1945, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:14:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:14:50 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 15:14:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:14:51 INFO: [Worker 0] Sampled task 'Pick up the rectangular wooden stamp with reversed text and place it in or on the smooth glossy golden bowl with concave' [task_sampler.py: 1136] +05/25 15:14:51 INFO: [Worker 0] Worker 0 house 1945 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:14:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:18:28 INFO: [Worker 0] Worker 0 house 1945 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_2_0_4 completed with success=False [pipeline.py: 1114] +05/25 15:18:32 INFO: [Worker 0] Batching and saving trajectory data for house_1945: 1 episodes [pipeline.py: 233] +05/25 15:18:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:18:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:18:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1945 [save_utils.py: 703] +05/25 15:18:35 INFO: [Worker 0] Successfully saved trajectory data for house_1945 in 3.02s (batch: 2.87s, save: 0.15s) [pipeline.py: 280] +05/25 15:18:36 WARNING: [Worker 0] No trajectory data to save for house_1945 [pipeline.py: 229] +05/25 15:18:36 INFO: [Worker 0] Worker 0 completed house 1945: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:18:36 INFO: [Worker 0] Worker 0 starting house 1954 (index 32/112) [pipeline.py: 473] +05/25 15:18:36 INFO: [Worker 0] Loaded 2 episodes for house 1954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:18:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:18:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/25 15:18:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/25 15:18:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 15:18:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1954_ceiling.xml [task_sampler.py: 797] +05/25 15:18:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1954, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:18:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:18:47 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 15:18:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:18:47 INFO: [Worker 0] Sampled task 'Pick up the black grenade with graffiti and place it in or on the round dark stone bowl' [task_sampler.py: 1136] +05/25 15:18:47 INFO: [Worker 0] Worker 0 house 1954 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 15:18:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:25:38 INFO: [Worker 0] Worker 0 house 1954 episode 0 object objagrenade_55ba03e41ae84ee09f938f062bfe211b_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 15:25:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/25 15:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/25 15:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 15:25:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1954_ceiling.xml [task_sampler.py: 797] +05/25 15:25:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1954, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:25:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:25:52 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 15:25:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:25:52 INFO: [Worker 0] Sampled task 'Pick up the blue four-sided die with symbols and place it in or on the round dark stone bowl with rim' [task_sampler.py: 1136] +05/25 15:25:52 INFO: [Worker 0] Worker 0 house 1954 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 15:25:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:31:54 INFO: [Worker 0] Worker 0 house 1954 episode 1 object objadie_7df438532d2f4567a87fb61f0336ad57_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 15:31:58 INFO: [Worker 0] Batching and saving trajectory data for house_1954: 2 episodes [pipeline.py: 233] +05/25 15:31:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:32:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:32:04 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1954 [save_utils.py: 703] +05/25 15:32:04 INFO: [Worker 0] Successfully saved trajectory data for house_1954 in 6.18s (batch: 5.89s, save: 0.29s) [pipeline.py: 280] +05/25 15:32:05 WARNING: [Worker 0] No trajectory data to save for house_1954 [pipeline.py: 229] +05/25 15:32:05 INFO: [Worker 0] Worker 0 completed house 1954: 0/2 successful episodes [pipeline.py: 1243] +05/25 15:32:05 INFO: [Worker 0] Worker 0 starting house 2013 (index 33/112) [pipeline.py: 473] +05/25 15:32:05 INFO: [Worker 0] Loaded 1 episodes for house 2013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:32:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2df58d08f5604c058d43e00677d325b6 [json_eval_task_sampler.py: 648] +05/25 15:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 15:32:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/25 15:32:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2013_ceiling.xml [task_sampler.py: 797] +05/25 15:32:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2013, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:32:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:32:09 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 15:32:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:32:09 INFO: [Worker 0] Sampled task 'Pick up the toroid and place it in or on the earthy bowl' [task_sampler.py: 1136] +05/25 15:32:09 INFO: [Worker 0] Worker 0 house 2013 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:32:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:32:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:35:11 INFO: [Worker 0] Worker 0 house 2013 episode 0 object objaring_68378067cc8d46649f8756d248fd0f1e_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 15:35:16 INFO: [Worker 0] Batching and saving trajectory data for house_2013: 1 episodes [pipeline.py: 233] +05/25 15:35:16 INFO: [Worker 0] Preparing episode data: 153 timesteps [save_utils.py: 284] +05/25 15:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:35:20 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2013 [save_utils.py: 703] +05/25 15:35:20 INFO: [Worker 0] Successfully saved trajectory data for house_2013 in 3.53s (batch: 3.41s, save: 0.11s) [pipeline.py: 280] +05/25 15:35:21 WARNING: [Worker 0] No trajectory data to save for house_2013 [pipeline.py: 229] +05/25 15:35:21 INFO: [Worker 0] Worker 0 completed house 2013: 1/1 successful episodes [pipeline.py: 1243] +05/25 15:35:21 INFO: [Worker 0] Worker 0 starting house 2068 (index 34/112) [pipeline.py: 473] +05/25 15:35:21 INFO: [Worker 0] Loaded 1 episodes for house 2068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:35:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0 [json_eval_task_sampler.py: 648] +05/25 15:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/25 15:35:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_20 [json_eval_task_sampler.py: 648] +05/25 15:35:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2068_ceiling.xml [task_sampler.py: 797] +05/25 15:35:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2068, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:35:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:35:33 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 15:35:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:35:33 INFO: [Worker 0] Sampled task 'Pick up the smooth polished handbell with gold and place it in or on the red box' [task_sampler.py: 1136] +05/25 15:35:33 INFO: [Worker 0] Worker 0 house 2068 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:35:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:41:30 INFO: [Worker 0] Worker 0 house 2068 episode 0 object objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 15:41:36 INFO: [Worker 0] Batching and saving trajectory data for house_2068: 1 episodes [pipeline.py: 233] +05/25 15:41:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:41:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:41:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2068 [save_utils.py: 703] +05/25 15:41:39 INFO: [Worker 0] Successfully saved trajectory data for house_2068 in 3.71s (batch: 3.47s, save: 0.24s) [pipeline.py: 280] +05/25 15:41:40 WARNING: [Worker 0] No trajectory data to save for house_2068 [pipeline.py: 229] +05/25 15:41:40 INFO: [Worker 0] Worker 0 completed house 2068: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:41:40 INFO: [Worker 0] Worker 0 starting house 2120 (index 35/112) [pipeline.py: 473] +05/25 15:41:40 INFO: [Worker 0] Loaded 1 episodes for house 2120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:41:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:41:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/25 15:41:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/372c4540cbe148b9bddcbbf1761b5e81 [json_eval_task_sampler.py: 648] +05/25 15:41:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e5c6cae2c71b45fe8fee9657af246c2c [json_eval_task_sampler.py: 648] +05/25 15:41:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2120_ceiling.xml [task_sampler.py: 797] +05/25 15:41:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2120, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:41:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:41:44 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/25 15:41:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:41:44 INFO: [Worker 0] Sampled task 'Pick up the green pliers and place it in or on the shallow rustic brown coconut bowl' [task_sampler.py: 1136] +05/25 15:41:44 INFO: [Worker 0] Worker 0 house 2120 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:41:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:46:10 INFO: [Worker 0] Worker 0 house 2120 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 15:46:15 INFO: [Worker 0] Batching and saving trajectory data for house_2120: 1 episodes [pipeline.py: 233] +05/25 15:46:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:46:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:46:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2120 [save_utils.py: 703] +05/25 15:46:18 INFO: [Worker 0] Successfully saved trajectory data for house_2120 in 3.24s (batch: 3.08s, save: 0.16s) [pipeline.py: 280] +05/25 15:46:19 WARNING: [Worker 0] No trajectory data to save for house_2120 [pipeline.py: 229] +05/25 15:46:19 INFO: [Worker 0] Worker 0 completed house 2120: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:46:19 INFO: [Worker 0] Worker 0 starting house 2156 (index 36/112) [pipeline.py: 473] +05/25 15:46:19 INFO: [Worker 0] Loaded 1 episodes for house 2156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:46:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:46:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/25 15:46:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 15:46:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_5 [json_eval_task_sampler.py: 648] +05/25 15:46:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2156_ceiling.xml [task_sampler.py: 797] +05/25 15:46:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2156, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:46:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:46:22 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/25 15:46:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:46:22 INFO: [Worker 0] Sampled task 'Pick up the black vintage camera with red accents and place it in or on the white bowl' [task_sampler.py: 1136] +05/25 15:46:22 INFO: [Worker 0] Worker 0 house 2156 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:46:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:46:23 WARNING: [Worker 0] Could not find object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_3 in scene [object_manager.py: 1238] +05/25 15:46:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:51:10 INFO: [Worker 0] Worker 0 house 2156 episode 0 object objafilmcamera_b18e3c3a8d104a048d72737e02f7a490_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 15:51:14 INFO: [Worker 0] Batching and saving trajectory data for house_2156: 1 episodes [pipeline.py: 233] +05/25 15:51:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:51:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:51:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2156 [save_utils.py: 703] +05/25 15:51:17 INFO: [Worker 0] Successfully saved trajectory data for house_2156 in 3.22s (batch: 3.06s, save: 0.16s) [pipeline.py: 280] +05/25 15:51:18 WARNING: [Worker 0] No trajectory data to save for house_2156 [pipeline.py: 229] +05/25 15:51:18 INFO: [Worker 0] Worker 0 completed house 2156: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:51:18 INFO: [Worker 0] Worker 0 starting house 2182 (index 37/112) [pipeline.py: 473] +05/25 15:51:18 INFO: [Worker 0] Loaded 1 episodes for house 2182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:51:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:51:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b [json_eval_task_sampler.py: 648] +05/25 15:51:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f [json_eval_task_sampler.py: 648] +05/25 15:51:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfae6fa9a7f64b9eb16f57c05553c612 [json_eval_task_sampler.py: 648] +05/25 15:51:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2182_ceiling.xml [task_sampler.py: 797] +05/25 15:51:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2182, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:51:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:51:23 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 15:51:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:51:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:51:24 INFO: [Worker 0] Sampled task 'Pick up the ergonomic black handheld scanner and place it in or on the rectangular vintage metal storage tin' [task_sampler.py: 1136] +05/25 15:51:24 INFO: [Worker 0] Worker 0 house 2182 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:51:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:51:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:58:18 INFO: [Worker 0] Worker 0 house 2182 episode 0 object objabarcodescanner_20b0d715334944feacba1342856c03a0_2_0_4 completed with success=False [pipeline.py: 1114] +05/25 15:58:23 INFO: [Worker 0] Batching and saving trajectory data for house_2182: 1 episodes [pipeline.py: 233] +05/25 15:58:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:58:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:58:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2182 [save_utils.py: 703] +05/25 15:58:27 INFO: [Worker 0] Successfully saved trajectory data for house_2182 in 3.66s (batch: 3.38s, save: 0.27s) [pipeline.py: 280] +05/25 15:58:28 WARNING: [Worker 0] No trajectory data to save for house_2182 [pipeline.py: 229] +05/25 15:58:28 INFO: [Worker 0] Worker 0 completed house 2182: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:58:28 INFO: [Worker 0] Worker 0 starting house 2225 (index 38/112) [pipeline.py: 473] +05/25 15:58:28 INFO: [Worker 0] Loaded 1 episodes for house 2225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 15:58:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 15:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 15:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/25 15:58:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2225_ceiling.xml [task_sampler.py: 797] +05/25 15:58:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2225, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:58:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:58:34 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 15:58:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:58:34 INFO: [Worker 0] Sampled task 'Pick up the modern teal white electric iron and place it in or on the white ceramic mug with ming' [task_sampler.py: 1136] +05/25 15:58:34 INFO: [Worker 0] Worker 0 house 2225 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:58:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:04:44 INFO: [Worker 0] Worker 0 house 2225 episode 0 object objasteamiron_77d38baf87d44ce3a2f0a14df79f9a79_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:04:49 INFO: [Worker 0] Batching and saving trajectory data for house_2225: 1 episodes [pipeline.py: 233] +05/25 16:04:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:04:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:04:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2225 [save_utils.py: 703] +05/25 16:04:53 INFO: [Worker 0] Successfully saved trajectory data for house_2225 in 3.87s (batch: 3.72s, save: 0.15s) [pipeline.py: 280] +05/25 16:04:54 WARNING: [Worker 0] No trajectory data to save for house_2225 [pipeline.py: 229] +05/25 16:04:54 INFO: [Worker 0] Worker 0 completed house 2225: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:04:54 INFO: [Worker 0] Worker 0 starting house 2261 (index 39/112) [pipeline.py: 473] +05/25 16:04:54 INFO: [Worker 0] Loaded 1 episodes for house 2261 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:04:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:04:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 16:04:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 16:04:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5 [json_eval_task_sampler.py: 648] +05/25 16:04:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2261_ceiling.xml [task_sampler.py: 797] +05/25 16:04:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2261, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:04:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:04:57 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 16:04:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:04:57 INFO: [Worker 0] Sampled task 'Pick up the white cat with raised paw and place it in or on the gray cracked bowl' [task_sampler.py: 1136] +05/25 16:04:57 INFO: [Worker 0] Worker 0 house 2261 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:04:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:04:58 WARNING: [Worker 0] Could not find object objamodelcar_c84108c6482148adaa36eabda87a2f4c_1_0_3 in scene [object_manager.py: 1238] +05/25 16:04:58 WARNING: [Worker 0] Could not find object candle_01c0e291727f84971c9be5d8b2925e0f_1_0_3 in scene [object_manager.py: 1238] +05/25 16:04:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:10:32 INFO: [Worker 0] Worker 0 house 2261 episode 0 object objadecorativefigurine_e221e7478a9f42fc9bb5145d1dd0dd96_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:10:38 INFO: [Worker 0] Batching and saving trajectory data for house_2261: 1 episodes [pipeline.py: 233] +05/25 16:10:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:10:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:10:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2261 [save_utils.py: 703] +05/25 16:10:41 INFO: [Worker 0] Successfully saved trajectory data for house_2261 in 3.69s (batch: 3.45s, save: 0.24s) [pipeline.py: 280] +05/25 16:10:42 WARNING: [Worker 0] No trajectory data to save for house_2261 [pipeline.py: 229] +05/25 16:10:42 INFO: [Worker 0] Worker 0 completed house 2261: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:10:42 INFO: [Worker 0] Worker 0 starting house 2312 (index 40/112) [pipeline.py: 473] +05/25 16:10:42 INFO: [Worker 0] Loaded 1 episodes for house 2312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:10:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:10:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 16:10:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/25 16:10:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 16:10:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2312_ceiling.xml [task_sampler.py: 797] +05/25 16:10:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2312, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:10:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:10:52 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/25 16:10:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:10:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:10:52 INFO: [Worker 0] Sampled task 'Pick up the wooden paintbrush with metal ferrule and place it in or on the rustic clay bowl' [task_sampler.py: 1136] +05/25 16:10:52 INFO: [Worker 0] Worker 0 house 2312 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:10:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:10:53 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/25 16:10:53 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene [object_manager.py: 1238] +05/25 16:12:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:17:31 INFO: [Worker 0] Worker 0 house 2312 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 16:17:35 INFO: [Worker 0] Batching and saving trajectory data for house_2312: 1 episodes [pipeline.py: 233] +05/25 16:17:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:17:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:17:38 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2312 [save_utils.py: 703] +05/25 16:17:38 INFO: [Worker 0] Successfully saved trajectory data for house_2312 in 2.88s (batch: 2.77s, save: 0.12s) [pipeline.py: 280] +05/25 16:17:39 WARNING: [Worker 0] No trajectory data to save for house_2312 [pipeline.py: 229] +05/25 16:17:39 INFO: [Worker 0] Worker 0 completed house 2312: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:17:39 INFO: [Worker 0] Worker 0 starting house 2341 (index 41/112) [pipeline.py: 473] +05/25 16:17:39 INFO: [Worker 0] Loaded 1 episodes for house 2341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:17:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:17:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/937044a40c3845bf88639056005b8a75 [json_eval_task_sampler.py: 648] +05/25 16:17:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/25 16:17:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/25 16:17:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2341_ceiling.xml [task_sampler.py: 797] +05/25 16:17:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2341, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:17:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:17:42 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 16:17:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:17:42 INFO: [Worker 0] Sampled task 'Pick up the jewel casket and place it in or on the rustic ceramic bowl' [task_sampler.py: 1136] +05/25 16:17:42 INFO: [Worker 0] Worker 0 house 2341 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:17:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:17:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:22:09 INFO: [Worker 0] Worker 0 house 2341 episode 0 object objajewelrybox_d38d887c6c8940e19035dd0d590483d8_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 16:22:14 INFO: [Worker 0] Batching and saving trajectory data for house_2341: 1 episodes [pipeline.py: 233] +05/25 16:22:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:22:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:22:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2341 [save_utils.py: 703] +05/25 16:22:17 INFO: [Worker 0] Successfully saved trajectory data for house_2341 in 3.05s (batch: 2.83s, save: 0.21s) [pipeline.py: 280] +05/25 16:22:17 WARNING: [Worker 0] No trajectory data to save for house_2341 [pipeline.py: 229] +05/25 16:22:17 INFO: [Worker 0] Worker 0 completed house 2341: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:22:17 INFO: [Worker 0] Worker 0 starting house 2383 (index 42/112) [pipeline.py: 473] +05/25 16:22:17 INFO: [Worker 0] Loaded 1 episodes for house 2383 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:22:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/25 16:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/25 16:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 16:22:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2383_ceiling.xml [task_sampler.py: 797] +05/25 16:22:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2383, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:22:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:22:23 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 16:22:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:22:23 INFO: [Worker 0] Sampled task 'Pick up the colorful ramen cup with smiling face and place it in or on the rectangular plastic organizing tray' [task_sampler.py: 1136] +05/25 16:22:23 INFO: [Worker 0] Worker 0 house 2383 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:22:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:22:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:27:00 INFO: [Worker 0] Worker 0 house 2383 episode 0 object objafoodcontainer_6fca9db01dd542a3bb36ed6a775526c2_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:27:04 INFO: [Worker 0] Batching and saving trajectory data for house_2383: 1 episodes [pipeline.py: 233] +05/25 16:27:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:27:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:27:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2383 [save_utils.py: 703] +05/25 16:27:07 INFO: [Worker 0] Successfully saved trajectory data for house_2383 in 2.90s (batch: 2.77s, save: 0.14s) [pipeline.py: 280] +05/25 16:27:07 WARNING: [Worker 0] No trajectory data to save for house_2383 [pipeline.py: 229] +05/25 16:27:07 INFO: [Worker 0] Worker 0 completed house 2383: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:27:07 INFO: [Worker 0] Worker 0 starting house 2433 (index 43/112) [pipeline.py: 473] +05/25 16:27:07 INFO: [Worker 0] Loaded 1 episodes for house 2433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:27:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b [json_eval_task_sampler.py: 648] +05/25 16:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/25 16:27:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 16:27:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2433_ceiling.xml [task_sampler.py: 797] +05/25 16:27:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2433, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:27:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:27:10 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/25 16:27:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:27:10 INFO: [Worker 0] Sampled task 'Pick up the ceramic ocarina and place it in or on the wide rustic terracotta bowl' [task_sampler.py: 1136] +05/25 16:27:10 INFO: [Worker 0] Worker 0 house 2433 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:27:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:27:10 WARNING: [Worker 0] Could not find object egg_90ac4704a427669f3e6c8af344d2d0d3_1_0_2 in scene [object_manager.py: 1238] +05/25 16:27:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:34:03 INFO: [Worker 0] Worker 0 house 2433 episode 0 object objaocarina_c72db05f0da647c78c794503845f6292_2_0_3 completed with success=False [pipeline.py: 1114] +05/25 16:34:08 INFO: [Worker 0] Batching and saving trajectory data for house_2433: 1 episodes [pipeline.py: 233] +05/25 16:34:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:34:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:34:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2433 [save_utils.py: 703] +05/25 16:34:12 INFO: [Worker 0] Successfully saved trajectory data for house_2433 in 3.56s (batch: 3.37s, save: 0.19s) [pipeline.py: 280] +05/25 16:34:13 WARNING: [Worker 0] No trajectory data to save for house_2433 [pipeline.py: 229] +05/25 16:34:13 INFO: [Worker 0] Worker 0 completed house 2433: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:34:13 INFO: [Worker 0] Worker 0 starting house 2467 (index 44/112) [pipeline.py: 473] +05/25 16:34:13 INFO: [Worker 0] Loaded 1 episodes for house 2467 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:34:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:34:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/25 16:34:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/25 16:34:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/496bd9f05a714e608a41a24b169937f6 [json_eval_task_sampler.py: 648] +05/25 16:34:16 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 16:34:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2467_ceiling.xml [task_sampler.py: 797] +05/25 16:34:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2467, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:34:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:34:23 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/25 16:34:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:34:23 INFO: [Worker 0] Sampled task 'Pick up the toy dinosaur and place it in or on the decorative ornate golden bowl with patterns' [task_sampler.py: 1136] +05/25 16:34:23 INFO: [Worker 0] Worker 0 house 2467 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:34:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:34:24 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 16:34:24 WARNING: [Worker 0] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene [object_manager.py: 1238] +05/25 16:34:24 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/25 16:34:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:41:27 INFO: [Worker 0] Worker 0 house 2467 episode 0 object objatoydinosaur_540b8cb4e3244b2197d548b6400c80ee_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 16:41:31 INFO: [Worker 0] Batching and saving trajectory data for house_2467: 1 episodes [pipeline.py: 233] +05/25 16:41:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:41:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:41:34 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2467 [save_utils.py: 703] +05/25 16:41:34 INFO: [Worker 0] Successfully saved trajectory data for house_2467 in 3.28s (batch: 3.16s, save: 0.11s) [pipeline.py: 280] +05/25 16:41:35 WARNING: [Worker 0] No trajectory data to save for house_2467 [pipeline.py: 229] +05/25 16:41:35 INFO: [Worker 0] Worker 0 completed house 2467: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:41:35 INFO: [Worker 0] Worker 0 starting house 2490 (index 45/112) [pipeline.py: 473] +05/25 16:41:35 INFO: [Worker 0] Loaded 2 episodes for house 2490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:41:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:41:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 16:41:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 16:41:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9 [json_eval_task_sampler.py: 648] +05/25 16:41:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2490_ceiling.xml [task_sampler.py: 797] +05/25 16:41:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2490, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:41:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:41:43 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 16:41:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:41:43 INFO: [Worker 0] Sampled task 'Pick up the round stone weight with metal ring and place it in or on the shallow round wooden bowl with texture' [task_sampler.py: 1136] +05/25 16:41:43 INFO: [Worker 0] Worker 0 house 2490 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 16:41:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:41:43 WARNING: [Worker 0] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene [object_manager.py: 1238] +05/25 16:41:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:42:43 INFO: [Worker 0] Worker 0 house 2490 episode 0 object objaweight_fceabaa7a09d4072b6befd0625cb4031_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 16:42:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:42:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 16:42:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 16:42:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9 [json_eval_task_sampler.py: 648] +05/25 16:42:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2490_ceiling.xml [task_sampler.py: 797] +05/25 16:42:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2490, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:42:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:42:55 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/25 16:42:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:42:55 INFO: [Worker 0] Sampled task 'Pick up the can opener and place it in or on the round dark speckled ceramic bowl' [task_sampler.py: 1136] +05/25 16:42:55 INFO: [Worker 0] Worker 0 house 2490 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 16:42:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:42:55 WARNING: [Worker 0] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene [object_manager.py: 1238] +05/25 16:47:08 INFO: [Worker 0] Worker 0 house 2490 episode 1 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:47:13 INFO: [Worker 0] Batching and saving trajectory data for house_2490: 2 episodes [pipeline.py: 233] +05/25 16:47:13 INFO: [Worker 0] Preparing episode data: 97 timesteps [save_utils.py: 284] +05/25 16:47:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:47:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:47:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:47:20 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2490 [save_utils.py: 703] +05/25 16:47:20 INFO: [Worker 0] Successfully saved trajectory data for house_2490 in 7.05s (batch: 6.83s, save: 0.22s) [pipeline.py: 280] +05/25 16:47:21 WARNING: [Worker 0] No trajectory data to save for house_2490 [pipeline.py: 229] +05/25 16:47:21 INFO: [Worker 0] Worker 0 completed house 2490: 1/2 successful episodes [pipeline.py: 1243] +05/25 16:47:21 INFO: [Worker 0] Worker 0 starting house 2522 (index 46/112) [pipeline.py: 473] +05/25 16:47:21 INFO: [Worker 0] Loaded 1 episodes for house 2522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:47:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:47:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029 [json_eval_task_sampler.py: 648] +05/25 16:47:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 16:47:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 16:47:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2522_ceiling.xml [task_sampler.py: 797] +05/25 16:47:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2522, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:47:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:47:26 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/25 16:47:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:47:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:47:26 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden base telegraph key and place it in or on the ceramic bowl' [task_sampler.py: 1136] +05/25 16:47:26 INFO: [Worker 0] Worker 0 house 2522 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:47:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:47:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:53:54 INFO: [Worker 0] Worker 0 house 2522 episode 0 object objatelegraphkey_a5b108e3132d46b696c36310c2314ed8_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 16:53:59 INFO: [Worker 0] Batching and saving trajectory data for house_2522: 1 episodes [pipeline.py: 233] +05/25 16:53:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:54:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:54:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2522 [save_utils.py: 703] +05/25 16:54:02 INFO: [Worker 0] Successfully saved trajectory data for house_2522 in 3.38s (batch: 3.24s, save: 0.14s) [pipeline.py: 280] +05/25 16:54:03 WARNING: [Worker 0] No trajectory data to save for house_2522 [pipeline.py: 229] +05/25 16:54:03 INFO: [Worker 0] Worker 0 completed house 2522: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:54:03 INFO: [Worker 0] Worker 0 starting house 2570 (index 47/112) [pipeline.py: 473] +05/25 16:54:03 INFO: [Worker 0] Loaded 1 episodes for house 2570 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:54:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:54:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 16:54:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 16:54:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 16:54:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2570_ceiling.xml [task_sampler.py: 797] +05/25 16:54:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2570, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:54:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:54:11 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/25 16:54:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:54:12 INFO: [Worker 0] Sampled task 'Pick up the ceramic cup and place it in or on the glossy marbled gray bowl' [task_sampler.py: 1136] +05/25 16:54:12 INFO: [Worker 0] Worker 0 house 2570 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:54:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:54:12 WARNING: [Worker 0] Could not find object objamonitor_f1f180c5581d4989b5b814ac9e471b61_1_0_4 in scene [object_manager.py: 1238] +05/25 16:54:12 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene [object_manager.py: 1238] +05/25 16:54:12 WARNING: [Worker 0] Could not find object objaemblem_4d12203206054668bbdb47f0cc56f133_1_0_5 in scene [object_manager.py: 1238] +05/25 16:54:12 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 in scene [object_manager.py: 1238] +05/25 16:59:45 INFO: [Worker 0] Worker 0 house 2570 episode 0 object objaceramiccup_b3c233751c824b1a9af21abaeaf68e76_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 16:59:50 INFO: [Worker 0] Batching and saving trajectory data for house_2570: 1 episodes [pipeline.py: 233] +05/25 16:59:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:59:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:59:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2570 [save_utils.py: 703] +05/25 16:59:53 INFO: [Worker 0] Successfully saved trajectory data for house_2570 in 3.48s (batch: 3.31s, save: 0.17s) [pipeline.py: 280] +05/25 16:59:54 WARNING: [Worker 0] No trajectory data to save for house_2570 [pipeline.py: 229] +05/25 16:59:54 INFO: [Worker 0] Worker 0 completed house 2570: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:59:54 INFO: [Worker 0] Worker 0 starting house 2618 (index 48/112) [pipeline.py: 473] +05/25 16:59:54 INFO: [Worker 0] Loaded 1 episodes for house 2618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 16:59:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:59:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 16:59:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 16:59:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/25 17:00:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2618_ceiling.xml [task_sampler.py: 797] +05/25 17:00:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2618, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:00:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:00:03 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/25 17:00:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:00:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:00:03 INFO: [Worker 0] Sampled task 'Pick up the videocassette and place it in or on the tan bowl with dark patterns' [task_sampler.py: 1136] +05/25 17:00:03 INFO: [Worker 0] Worker 0 house 2618 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:00:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:00:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:05:42 INFO: [Worker 0] Worker 0 house 2618 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 17:05:48 INFO: [Worker 0] Batching and saving trajectory data for house_2618: 1 episodes [pipeline.py: 233] +05/25 17:05:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:05:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:05:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2618 [save_utils.py: 703] +05/25 17:05:52 INFO: [Worker 0] Successfully saved trajectory data for house_2618 in 4.07s (batch: 3.78s, save: 0.30s) [pipeline.py: 280] +05/25 17:05:53 WARNING: [Worker 0] No trajectory data to save for house_2618 [pipeline.py: 229] +05/25 17:05:53 INFO: [Worker 0] Worker 0 completed house 2618: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:05:53 INFO: [Worker 0] Worker 0 starting house 2665 (index 49/112) [pipeline.py: 473] +05/25 17:05:53 INFO: [Worker 0] Loaded 1 episodes for house 2665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:05:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 17:05:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/25 17:05:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338 [json_eval_task_sampler.py: 648] +05/25 17:05:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2665_ceiling.xml [task_sampler.py: 797] +05/25 17:05:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2665, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:05:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:05:58 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 17:05:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:05:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:05:58 INFO: [Worker 0] Sampled task 'Pick up the brown leather-bound book with sword and place it in or on the shallow ceramic bowl with foot' [task_sampler.py: 1136] +05/25 17:05:58 INFO: [Worker 0] Worker 0 house 2665 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:05:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:06:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:11:30 INFO: [Worker 0] Worker 0 house 2665 episode 0 object objadecorativebook_cf14c69bbc164cda97c6555b470e1b93_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 17:11:35 INFO: [Worker 0] Batching and saving trajectory data for house_2665: 1 episodes [pipeline.py: 233] +05/25 17:11:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:11:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:11:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2665 [save_utils.py: 703] +05/25 17:11:39 INFO: [Worker 0] Successfully saved trajectory data for house_2665 in 4.01s (batch: 3.85s, save: 0.16s) [pipeline.py: 280] +05/25 17:11:40 WARNING: [Worker 0] No trajectory data to save for house_2665 [pipeline.py: 229] +05/25 17:11:40 INFO: [Worker 0] Worker 0 completed house 2665: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:11:40 INFO: [Worker 0] Worker 0 starting house 2727 (index 50/112) [pipeline.py: 473] +05/25 17:11:40 INFO: [Worker 0] Loaded 2 episodes for house 2727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:11:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:11:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_7 [json_eval_task_sampler.py: 648] +05/25 17:11:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 17:11:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/25 17:11:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2727_ceiling.xml [task_sampler.py: 797] +05/25 17:11:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2727, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:11:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:11:43 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 17:11:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:11:43 INFO: [Worker 0] Sampled task 'Pick up the blue and black handheld device and place it in or on the smooth shallow terracotta bowl with ridges' [task_sampler.py: 1136] +05/25 17:11:43 INFO: [Worker 0] Worker 0 house 2727 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 17:11:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:14:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:17:21 INFO: [Worker 0] Worker 0 house 2727 episode 0 object objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:17:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:17:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_7 [json_eval_task_sampler.py: 648] +05/25 17:17:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 17:17:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/25 17:17:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2727_ceiling.xml [task_sampler.py: 797] +05/25 17:17:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2727, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:17:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:17:27 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 17:17:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:17:27 INFO: [Worker 0] Sampled task 'Pick up the bulbous shiny gold vase and place it in or on the pixelated ramen bowl' [task_sampler.py: 1136] +05/25 17:17:27 INFO: [Worker 0] Worker 0 house 2727 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 17:17:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:19:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:24:57 INFO: [Worker 0] Worker 0 house 2727 episode 1 object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:25:02 INFO: [Worker 0] Batching and saving trajectory data for house_2727: 2 episodes [pipeline.py: 233] +05/25 17:25:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:25:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:25:10 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2727 [save_utils.py: 703] +05/25 17:25:10 INFO: [Worker 0] Successfully saved trajectory data for house_2727 in 7.58s (batch: 7.28s, save: 0.31s) [pipeline.py: 280] +05/25 17:25:11 WARNING: [Worker 0] No trajectory data to save for house_2727 [pipeline.py: 229] +05/25 17:25:11 INFO: [Worker 0] Worker 0 completed house 2727: 0/2 successful episodes [pipeline.py: 1243] +05/25 17:25:11 INFO: [Worker 0] Worker 0 starting house 2733 (index 51/112) [pipeline.py: 473] +05/25 17:25:11 INFO: [Worker 0] Loaded 1 episodes for house 2733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 17:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 17:25:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_4 [json_eval_task_sampler.py: 648] +05/25 17:25:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2733_ceiling.xml [task_sampler.py: 797] +05/25 17:25:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2733, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:25:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:25:23 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/25 17:25:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:25:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:25:23 INFO: [Worker 0] Sampled task 'Pick up the rectangular wooden stamp with reversed text and place it in or on the wooden bowl' [task_sampler.py: 1136] +05/25 17:25:23 INFO: [Worker 0] Worker 0 house 2733 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:25:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:25:25 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene [object_manager.py: 1238] +05/25 17:25:25 WARNING: [Worker 0] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_1_0_9 in scene [object_manager.py: 1238] +05/25 17:33:02 INFO: [Worker 0] Worker 0 house 2733 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 17:33:06 INFO: [Worker 0] Batching and saving trajectory data for house_2733: 1 episodes [pipeline.py: 233] +05/25 17:33:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:33:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:33:09 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2733 [save_utils.py: 703] +05/25 17:33:09 INFO: [Worker 0] Successfully saved trajectory data for house_2733 in 2.89s (batch: 2.78s, save: 0.11s) [pipeline.py: 280] +05/25 17:33:10 WARNING: [Worker 0] No trajectory data to save for house_2733 [pipeline.py: 229] +05/25 17:33:10 INFO: [Worker 0] Worker 0 completed house 2733: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:33:10 INFO: [Worker 0] Worker 0 starting house 2775 (index 52/112) [pipeline.py: 473] +05/25 17:33:10 INFO: [Worker 0] Loaded 1 episodes for house 2775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:33:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 17:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 17:33:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 17:33:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2775_ceiling.xml [task_sampler.py: 797] +05/25 17:33:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2775, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:33:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:33:22 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/25 17:33:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:33:22 INFO: [Worker 0] Sampled task 'Pick up the irish potato and place it in or on the rustic handmade ceramic bowl' [task_sampler.py: 1136] +05/25 17:33:22 INFO: [Worker 0] Worker 0 house 2775 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:33:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:40:18 INFO: [Worker 0] Worker 0 house 2775 episode 0 object objapotato_77c957c8e7054cf4909472bfdaa04328_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:40:22 INFO: [Worker 0] Batching and saving trajectory data for house_2775: 1 episodes [pipeline.py: 233] +05/25 17:40:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:40:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:40:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2775 [save_utils.py: 703] +05/25 17:40:26 INFO: [Worker 0] Successfully saved trajectory data for house_2775 in 3.26s (batch: 3.04s, save: 0.22s) [pipeline.py: 280] +05/25 17:40:26 WARNING: [Worker 0] No trajectory data to save for house_2775 [pipeline.py: 229] +05/25 17:40:26 INFO: [Worker 0] Worker 0 completed house 2775: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:40:26 INFO: [Worker 0] Worker 0 starting house 2829 (index 53/112) [pipeline.py: 473] +05/25 17:40:26 INFO: [Worker 0] Loaded 1 episodes for house 2829 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:40:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:40:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/25 17:40:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/25 17:40:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 17:40:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2829_ceiling.xml [task_sampler.py: 797] +05/25 17:40:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2829, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:40:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:40:52 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/25 17:40:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:40:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:40:52 INFO: [Worker 0] Sampled task 'Pick up the red kit kat chunky package and place it in or on the white ceramic bowl with chicken salad' [task_sampler.py: 1136] +05/25 17:40:52 INFO: [Worker 0] Worker 0 house 2829 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:40:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:43:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:49:44 INFO: [Worker 0] Worker 0 house 2829 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:49:48 INFO: [Worker 0] Batching and saving trajectory data for house_2829: 1 episodes [pipeline.py: 233] +05/25 17:49:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:49:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:49:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2829 [save_utils.py: 703] +05/25 17:49:52 INFO: [Worker 0] Successfully saved trajectory data for house_2829 in 3.46s (batch: 3.30s, save: 0.15s) [pipeline.py: 280] +05/25 17:49:52 WARNING: [Worker 0] No trajectory data to save for house_2829 [pipeline.py: 229] +05/25 17:49:52 INFO: [Worker 0] Worker 0 completed house 2829: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:49:52 INFO: [Worker 0] Worker 0 starting house 2882 (index 54/112) [pipeline.py: 473] +05/25 17:49:52 INFO: [Worker 0] Loaded 1 episodes for house 2882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:49:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:50:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 17:50:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/15607bdf52a64f81a7555de4cfad4029 [json_eval_task_sampler.py: 648] +05/25 17:50:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 17:50:02 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 17:50:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2882_ceiling.xml [task_sampler.py: 797] +05/25 17:50:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2882, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:50:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:50:05 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 17:50:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:50:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:50:05 INFO: [Worker 0] Sampled task 'Pick up the purple and white meningococcal vaccine box and place it in or on the glossy blue round bowl' [task_sampler.py: 1136] +05/25 17:50:05 INFO: [Worker 0] Worker 0 house 2882 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:50:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:50:06 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/25 17:52:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:57:13 INFO: [Worker 0] Worker 0 house 2882 episode 0 object objamedicinebox_f1f8ca43cfd44dc183098fbc2e6cdacd_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:57:18 INFO: [Worker 0] Batching and saving trajectory data for house_2882: 1 episodes [pipeline.py: 233] +05/25 17:57:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:57:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:57:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2882 [save_utils.py: 703] +05/25 17:57:22 INFO: [Worker 0] Successfully saved trajectory data for house_2882 in 4.01s (batch: 3.80s, save: 0.21s) [pipeline.py: 280] +05/25 17:57:22 WARNING: [Worker 0] No trajectory data to save for house_2882 [pipeline.py: 229] +05/25 17:57:22 INFO: [Worker 0] Worker 0 completed house 2882: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:57:22 INFO: [Worker 0] Worker 0 starting house 2959 (index 55/112) [pipeline.py: 473] +05/25 17:57:22 INFO: [Worker 0] Loaded 1 episodes for house 2959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 17:57:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:57:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/25 17:57:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3b145885d881488887d90a98b3cde06f [json_eval_task_sampler.py: 648] +05/25 17:57:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/25 17:57:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2959_ceiling.xml [task_sampler.py: 797] +05/25 17:57:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2959, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:57:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:57:27 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/25 17:57:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:57:27 INFO: [Worker 0] Sampled task 'Pick up the black camera and place it in or on the round shallow marbled gray bowl' [task_sampler.py: 1136] +05/25 17:57:27 INFO: [Worker 0] Worker 0 house 2959 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:57:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:09:52 INFO: [Worker 0] Worker 0 house 2959 episode 0 object objacamera_3ad05f9e89294272b9f4d8f3b005a04b_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 18:09:55 INFO: [Worker 0] Batching and saving trajectory data for house_2959: 1 episodes [pipeline.py: 233] +05/25 18:09:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:09:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:09:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2959 [save_utils.py: 703] +05/25 18:09:58 INFO: [Worker 0] Successfully saved trajectory data for house_2959 in 2.70s (batch: 2.59s, save: 0.12s) [pipeline.py: 280] +05/25 18:09:59 WARNING: [Worker 0] No trajectory data to save for house_2959 [pipeline.py: 229] +05/25 18:09:59 INFO: [Worker 0] Worker 0 completed house 2959: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:09:59 INFO: [Worker 0] Worker 0 starting house 3042 (index 56/112) [pipeline.py: 473] +05/25 18:09:59 INFO: [Worker 0] Loaded 1 episodes for house 3042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 18:09:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:10:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/25 18:10:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/25 18:10:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/25 18:10:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3042_ceiling.xml [task_sampler.py: 797] +05/25 18:10:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3042, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:10:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:10:15 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 18:10:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:10:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:10:15 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular sphere model and place it in or on the shallow bowl with rim' [task_sampler.py: 1136] +05/25 18:10:15 INFO: [Worker 0] Worker 0 house 3042 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:10:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:18:52 INFO: [Worker 0] Worker 0 house 3042 episode 0 object objaeducationaltoy_2ec178065e6d46c68133176339f1ca2a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 18:18:57 INFO: [Worker 0] Batching and saving trajectory data for house_3042: 1 episodes [pipeline.py: 233] +05/25 18:18:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:19:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:19:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3042 [save_utils.py: 703] +05/25 18:19:01 INFO: [Worker 0] Successfully saved trajectory data for house_3042 in 3.91s (batch: 3.75s, save: 0.16s) [pipeline.py: 280] +05/25 18:19:02 WARNING: [Worker 0] No trajectory data to save for house_3042 [pipeline.py: 229] +05/25 18:19:02 INFO: [Worker 0] Worker 0 completed house 3042: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:19:02 INFO: [Worker 0] Worker 0 starting house 3070 (index 57/112) [pipeline.py: 473] +05/25 18:19:02 INFO: [Worker 0] Loaded 2 episodes for house 3070 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 18:19:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_28 [json_eval_task_sampler.py: 648] +05/25 18:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/25 18:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/25 18:19:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3070_ceiling.xml [task_sampler.py: 797] +05/25 18:19:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3070, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:19:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:19:27 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/25 18:19:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:19:28 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it in or on the cookware' [task_sampler.py: 1136] +05/25 18:19:28 INFO: [Worker 0] Worker 0 house 3070 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 18:19:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:23:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:30:52 INFO: [Worker 0] Worker 0 house 3070 episode 0 object objaclub_a93f4227772f4ae59b133c69f0c39f92_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 18:30:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:31:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_28 [json_eval_task_sampler.py: 648] +05/25 18:31:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/25 18:31:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/25 18:31:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3070_ceiling.xml [task_sampler.py: 797] +05/25 18:31:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3070, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:31:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:31:08 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/25 18:31:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:31:09 INFO: [Worker 0] Sampled task 'Pick up the gray futuristic control device and place it in or on the textured rustic clay bowl' [task_sampler.py: 1136] +05/25 18:31:09 INFO: [Worker 0] Worker 0 house 3070 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 18:31:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:39:45 INFO: [Worker 0] Worker 0 house 3070 episode 1 object objaremotecontrol_f76a924605f3459fb259774430209410_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 18:39:50 INFO: [Worker 0] Batching and saving trajectory data for house_3070: 2 episodes [pipeline.py: 233] +05/25 18:39:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:39:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:39:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:39:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:39:59 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3070 [save_utils.py: 703] +05/25 18:39:59 INFO: [Worker 0] Successfully saved trajectory data for house_3070 in 8.84s (batch: 8.44s, save: 0.41s) [pipeline.py: 280] +05/25 18:40:00 WARNING: [Worker 0] No trajectory data to save for house_3070 [pipeline.py: 229] +05/25 18:40:00 INFO: [Worker 0] Worker 0 completed house 3070: 0/2 successful episodes [pipeline.py: 1243] +05/25 18:40:00 INFO: [Worker 0] Worker 0 starting house 3097 (index 58/112) [pipeline.py: 473] +05/25 18:40:00 INFO: [Worker 0] Loaded 1 episodes for house 3097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 18:40:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:40:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 18:40:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_24 [json_eval_task_sampler.py: 648] +05/25 18:40:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 18:40:15 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 18:40:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3097_ceiling.xml [task_sampler.py: 797] +05/25 18:40:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:40:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:40:22 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 18:40:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:40:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:40:22 INFO: [Worker 0] Sampled task 'Pick up the red cylindrical roller and place it in or on the cookware' [task_sampler.py: 1136] +05/25 18:40:22 INFO: [Worker 0] Worker 0 house 3097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:40:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:40:23 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/25 18:44:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:56:27 INFO: [Worker 0] Worker 0 house 3097 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 18:56:34 INFO: [Worker 0] Batching and saving trajectory data for house_3097: 1 episodes [pipeline.py: 233] +05/25 18:56:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:56:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:56:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3097 [save_utils.py: 703] +05/25 18:56:39 INFO: [Worker 0] Successfully saved trajectory data for house_3097 in 5.48s (batch: 5.15s, save: 0.32s) [pipeline.py: 280] +05/25 18:56:40 WARNING: [Worker 0] No trajectory data to save for house_3097 [pipeline.py: 229] +05/25 18:56:40 INFO: [Worker 0] Worker 0 completed house 3097: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:56:40 INFO: [Worker 0] Worker 0 starting house 3138 (index 59/112) [pipeline.py: 473] +05/25 18:56:40 INFO: [Worker 0] Loaded 1 episodes for house 3138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 18:56:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:56:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24 [json_eval_task_sampler.py: 648] +05/25 18:56:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 18:56:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_13 [json_eval_task_sampler.py: 648] +05/25 18:56:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3138_ceiling.xml [task_sampler.py: 797] +05/25 18:56:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3138, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:56:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:56:57 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 18:56:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:56:57 INFO: [Worker 0] Sampled task 'Pick up the red futuristic blaster and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 18:56:57 INFO: [Worker 0] Worker 0 house 3138 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:56:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:00:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:06:04 INFO: [Worker 0] Worker 0 house 3138 episode 0 object objatoyblaster_b72ce13805f24d729e6cbd54789a93a1_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 19:06:09 INFO: [Worker 0] Batching and saving trajectory data for house_3138: 1 episodes [pipeline.py: 233] +05/25 19:06:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:06:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:06:13 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3138 [save_utils.py: 703] +05/25 19:06:13 INFO: [Worker 0] Successfully saved trajectory data for house_3138 in 3.98s (batch: 3.80s, save: 0.19s) [pipeline.py: 280] +05/25 19:06:14 WARNING: [Worker 0] No trajectory data to save for house_3138 [pipeline.py: 229] +05/25 19:06:14 INFO: [Worker 0] Worker 0 completed house 3138: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:06:14 INFO: [Worker 0] Worker 0 starting house 3216 (index 60/112) [pipeline.py: 473] +05/25 19:06:14 INFO: [Worker 0] Loaded 1 episodes for house 3216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:06:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:06:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/25 19:06:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bcc0425058142c59255979a2b61f0d2 [json_eval_task_sampler.py: 648] +05/25 19:06:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 19:06:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3216_ceiling.xml [task_sampler.py: 797] +05/25 19:06:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3216, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:06:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:06:45 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 19:06:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:06:45 INFO: [Worker 0] Sampled task 'Pick up the stone cup and place it in or on the white ceramic mug with handle' [task_sampler.py: 1136] +05/25 19:06:45 INFO: [Worker 0] Worker 0 house 3216 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:06:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:06:46 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene [object_manager.py: 1238] +05/25 19:09:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:13:34 INFO: [Worker 0] Worker 0 house 3216 episode 0 object objastonecup_5ef91e0bfe7b44da9f1d2944386cce85_2_0_8 completed with success=False [pipeline.py: 1114] +05/25 19:13:39 INFO: [Worker 0] Batching and saving trajectory data for house_3216: 1 episodes [pipeline.py: 233] +05/25 19:13:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:13:44 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3216 [save_utils.py: 703] +05/25 19:13:44 INFO: [Worker 0] Successfully saved trajectory data for house_3216 in 4.20s (batch: 3.96s, save: 0.24s) [pipeline.py: 280] +05/25 19:13:44 WARNING: [Worker 0] No trajectory data to save for house_3216 [pipeline.py: 229] +05/25 19:13:44 INFO: [Worker 0] Worker 0 completed house 3216: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:13:44 INFO: [Worker 0] Worker 0 starting house 3281 (index 61/112) [pipeline.py: 473] +05/25 19:13:44 INFO: [Worker 0] Loaded 1 episodes for house 3281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:13:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:14:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 19:14:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fdfd829fe39049a69f6df2289b29dc7f [json_eval_task_sampler.py: 648] +05/25 19:14:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/25 19:14:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3281_ceiling.xml [task_sampler.py: 797] +05/25 19:14:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3281, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:14:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:14:16 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/25 19:14:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:14:16 INFO: [Worker 0] Sampled task 'Pick up the metal spring and place it in or on the rectangular vintage metal storage tin' [task_sampler.py: 1136] +05/25 19:14:16 INFO: [Worker 0] Worker 0 house 3281 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:14:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:16:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:22:36 INFO: [Worker 0] Worker 0 house 3281 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:22:40 INFO: [Worker 0] Batching and saving trajectory data for house_3281: 1 episodes [pipeline.py: 233] +05/25 19:22:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:22:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:22:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3281 [save_utils.py: 703] +05/25 19:22:43 INFO: [Worker 0] Successfully saved trajectory data for house_3281 in 3.15s (batch: 2.99s, save: 0.16s) [pipeline.py: 280] +05/25 19:22:44 WARNING: [Worker 0] No trajectory data to save for house_3281 [pipeline.py: 229] +05/25 19:22:44 INFO: [Worker 0] Worker 0 completed house 3281: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:22:44 INFO: [Worker 0] Worker 0 starting house 3312 (index 62/112) [pipeline.py: 473] +05/25 19:22:44 INFO: [Worker 0] Loaded 1 episodes for house 3312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:22:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:22:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/25 19:22:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6 [json_eval_task_sampler.py: 648] +05/25 19:22:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/25 19:22:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3312_ceiling.xml [task_sampler.py: 797] +05/25 19:22:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3312, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:22:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:22:51 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 19:22:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:22:51 INFO: [Worker 0] Sampled task 'Pick up the rectangular metallic effects pedal and place it in or on the matte dark gray bowl' [task_sampler.py: 1136] +05/25 19:22:51 INFO: [Worker 0] Worker 0 house 3312 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:22:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:25:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:30:16 INFO: [Worker 0] Worker 0 house 3312 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:30:21 INFO: [Worker 0] Batching and saving trajectory data for house_3312: 1 episodes [pipeline.py: 233] +05/25 19:30:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:30:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:30:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3312 [save_utils.py: 703] +05/25 19:30:25 INFO: [Worker 0] Successfully saved trajectory data for house_3312 in 4.00s (batch: 3.62s, save: 0.38s) [pipeline.py: 280] +05/25 19:30:26 WARNING: [Worker 0] No trajectory data to save for house_3312 [pipeline.py: 229] +05/25 19:30:26 INFO: [Worker 0] Worker 0 completed house 3312: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:30:26 INFO: [Worker 0] Worker 0 starting house 3339 (index 63/112) [pipeline.py: 473] +05/25 19:30:26 INFO: [Worker 0] Loaded 1 episodes for house 3339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:30:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/25 19:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/25 19:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/25 19:30:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3339_ceiling.xml [task_sampler.py: 797] +05/25 19:30:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3339, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:30:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:30:35 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/25 19:30:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:30:35 INFO: [Worker 0] Sampled task 'Pick up the glossy red tomato with twisting stem and place it in or on the blue and white ceramic bowl' [task_sampler.py: 1136] +05/25 19:30:35 INFO: [Worker 0] Worker 0 house 3339 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:30:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:32:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:36:54 INFO: [Worker 0] Worker 0 house 3339 episode 0 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_2_0_2 completed with success=False [pipeline.py: 1114] +05/25 19:36:58 INFO: [Worker 0] Batching and saving trajectory data for house_3339: 1 episodes [pipeline.py: 233] +05/25 19:36:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:37:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:37:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3339 [save_utils.py: 703] +05/25 19:37:01 INFO: [Worker 0] Successfully saved trajectory data for house_3339 in 2.90s (batch: 2.75s, save: 0.14s) [pipeline.py: 280] +05/25 19:37:02 WARNING: [Worker 0] No trajectory data to save for house_3339 [pipeline.py: 229] +05/25 19:37:02 INFO: [Worker 0] Worker 0 completed house 3339: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:37:02 INFO: [Worker 0] Worker 0 starting house 3372 (index 64/112) [pipeline.py: 473] +05/25 19:37:02 INFO: [Worker 0] Loaded 1 episodes for house 3372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:37:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:37:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11 [json_eval_task_sampler.py: 648] +05/25 19:37:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/25 19:37:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667 [json_eval_task_sampler.py: 648] +05/25 19:37:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3372_ceiling.xml [task_sampler.py: 797] +05/25 19:37:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3372, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:37:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:37:24 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 19:37:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:37:24 INFO: [Worker 0] Sampled task 'Pick up the surgical mask and place it in or on the rustic gray bowl' [task_sampler.py: 1136] +05/25 19:37:24 INFO: [Worker 0] Worker 0 house 3372 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:37:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:46:57 INFO: [Worker 0] Worker 0 house 3372 episode 0 object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_2_0_5 completed with success=False [pipeline.py: 1114] +05/25 19:47:01 INFO: [Worker 0] Batching and saving trajectory data for house_3372: 1 episodes [pipeline.py: 233] +05/25 19:47:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:47:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:47:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3372 [save_utils.py: 703] +05/25 19:47:04 INFO: [Worker 0] Successfully saved trajectory data for house_3372 in 3.34s (batch: 3.21s, save: 0.12s) [pipeline.py: 280] +05/25 19:47:05 WARNING: [Worker 0] No trajectory data to save for house_3372 [pipeline.py: 229] +05/25 19:47:05 INFO: [Worker 0] Worker 0 completed house 3372: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:47:05 INFO: [Worker 0] Worker 0 starting house 3436 (index 65/112) [pipeline.py: 473] +05/25 19:47:05 INFO: [Worker 0] Loaded 1 episodes for house 3436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:47:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:47:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/25 19:47:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2 [json_eval_task_sampler.py: 648] +05/25 19:47:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4b5c2f816e814756960ac3be616fd29d [json_eval_task_sampler.py: 648] +05/25 19:47:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3436_ceiling.xml [task_sampler.py: 797] +05/25 19:47:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3436, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:47:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:47:24 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 19:47:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:47:24 INFO: [Worker 0] Sampled task 'Pick up the trowel and place it in or on the blue ceramic bottle' [task_sampler.py: 1136] +05/25 19:47:24 INFO: [Worker 0] Worker 0 house 3436 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:47:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:47:25 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_3 in scene [object_manager.py: 1238] +05/25 19:47:25 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_3 in scene [object_manager.py: 1238] +05/25 19:56:39 INFO: [Worker 0] Worker 0 house 3436 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_2_0_4 completed with success=False [pipeline.py: 1114] +05/25 19:56:43 INFO: [Worker 0] Batching and saving trajectory data for house_3436: 1 episodes [pipeline.py: 233] +05/25 19:56:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:56:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:56:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3436 [save_utils.py: 703] +05/25 19:56:46 INFO: [Worker 0] Successfully saved trajectory data for house_3436 in 3.09s (batch: 2.96s, save: 0.13s) [pipeline.py: 280] +05/25 19:56:47 WARNING: [Worker 0] No trajectory data to save for house_3436 [pipeline.py: 229] +05/25 19:56:47 INFO: [Worker 0] Worker 0 completed house 3436: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:56:47 INFO: [Worker 0] Worker 0 starting house 3483 (index 66/112) [pipeline.py: 473] +05/25 19:56:47 INFO: [Worker 0] Loaded 1 episodes for house 3483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 19:56:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:57:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_9 [json_eval_task_sampler.py: 648] +05/25 19:57:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27 [json_eval_task_sampler.py: 648] +05/25 19:57:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b54b110dfccb4ea3a8f5a06cc65edc5a [json_eval_task_sampler.py: 648] +05/25 19:57:17 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 19:57:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3483_ceiling.xml [task_sampler.py: 797] +05/25 19:57:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3483, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:57:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:57:23 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/25 19:57:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:57:23 INFO: [Worker 0] Sampled task 'Pick up the black skull card and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 19:57:24 INFO: [Worker 0] Worker 0 house 3483 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:57:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:57:24 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene [object_manager.py: 1238] +05/25 20:03:48 INFO: [Worker 0] Worker 0 house 3483 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 20:03:52 INFO: [Worker 0] Batching and saving trajectory data for house_3483: 1 episodes [pipeline.py: 233] +05/25 20:03:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:03:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:03:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3483 [save_utils.py: 703] +05/25 20:03:56 INFO: [Worker 0] Successfully saved trajectory data for house_3483 in 3.29s (batch: 3.12s, save: 0.17s) [pipeline.py: 280] +05/25 20:03:56 WARNING: [Worker 0] No trajectory data to save for house_3483 [pipeline.py: 229] +05/25 20:03:56 INFO: [Worker 0] Worker 0 completed house 3483: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:03:56 INFO: [Worker 0] Worker 0 starting house 3522 (index 67/112) [pipeline.py: 473] +05/25 20:03:56 INFO: [Worker 0] Loaded 1 episodes for house 3522 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:03:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:03:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/25 20:03:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/25 20:03:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/25 20:03:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3522_ceiling.xml [task_sampler.py: 797] +05/25 20:03:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3522, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:03:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:03:59 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/25 20:03:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:03:59 INFO: [Worker 0] Sampled task 'Pick up the spinningtop and place it in or on the rustic round gray bowl' [task_sampler.py: 1136] +05/25 20:03:59 INFO: [Worker 0] Worker 0 house 3522 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:04:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:06:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:15:25 INFO: [Worker 0] Worker 0 house 3522 episode 0 object objaspinningtop_d090504b2d994d7c812c14bc963afe90_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 20:15:30 INFO: [Worker 0] Batching and saving trajectory data for house_3522: 1 episodes [pipeline.py: 233] +05/25 20:15:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:15:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:15:34 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3522 [save_utils.py: 703] +05/25 20:15:34 INFO: [Worker 0] Successfully saved trajectory data for house_3522 in 3.85s (batch: 3.67s, save: 0.18s) [pipeline.py: 280] +05/25 20:15:35 WARNING: [Worker 0] No trajectory data to save for house_3522 [pipeline.py: 229] +05/25 20:15:35 INFO: [Worker 0] Worker 0 completed house 3522: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:15:35 INFO: [Worker 0] Worker 0 starting house 3551 (index 68/112) [pipeline.py: 473] +05/25 20:15:35 INFO: [Worker 0] Loaded 1 episodes for house 3551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:15:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:16:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 20:16:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/25 20:16:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/25 20:16:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3551_ceiling.xml [task_sampler.py: 797] +05/25 20:16:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3551, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:16:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:16:19 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/25 20:16:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:16:19 INFO: [Worker 0] Sampled task 'Pick up the rough beige clay with label and place it in or on the blue and white bowl' [task_sampler.py: 1136] +05/25 20:16:19 INFO: [Worker 0] Worker 0 house 3551 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:16:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:16:20 WARNING: [Worker 0] Could not find object objaicecreamcone_647db6bb1a13494eb685da0d4ebcab84_1_0_2 in scene [object_manager.py: 1238] +05/25 20:16:20 WARNING: [Worker 0] Could not find object apple_3076d24521ee5e895156b37b1b9fb130_1_0_2 in scene [object_manager.py: 1238] +05/25 20:20:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:25:31 INFO: [Worker 0] Worker 0 house 3551 episode 0 object objaclaysample_32eea43c6c0e4c76a447111bb191ab5c_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 20:25:35 INFO: [Worker 0] Batching and saving trajectory data for house_3551: 1 episodes [pipeline.py: 233] +05/25 20:25:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:25:38 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3551 [save_utils.py: 703] +05/25 20:25:38 INFO: [Worker 0] Successfully saved trajectory data for house_3551 in 2.77s (batch: 2.64s, save: 0.13s) [pipeline.py: 280] +05/25 20:25:39 WARNING: [Worker 0] No trajectory data to save for house_3551 [pipeline.py: 229] +05/25 20:25:39 INFO: [Worker 0] Worker 0 completed house 3551: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:25:39 INFO: [Worker 0] Worker 0 starting house 3593 (index 69/112) [pipeline.py: 473] +05/25 20:25:39 INFO: [Worker 0] Loaded 2 episodes for house 3593 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:25:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:25:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 20:25:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 20:25:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/25 20:25:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3593_ceiling.xml [task_sampler.py: 797] +05/25 20:25:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3593, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:25:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:25:57 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 20:25:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:25:57 INFO: [Worker 0] Sampled task 'Pick up the dark square switch and place it in or on the translucent smooth glass conical bowl' [task_sampler.py: 1136] +05/25 20:25:57 INFO: [Worker 0] Worker 0 house 3593 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 20:25:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:27:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:31:00 INFO: [Worker 0] Worker 0 house 3593 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 20:31:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:31:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 20:31:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 20:31:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/25 20:31:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3593_ceiling.xml [task_sampler.py: 797] +05/25 20:31:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3593, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:31:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:31:09 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 20:31:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:31:09 INFO: [Worker 0] Sampled task 'Pick up the pink and white orchid flower and place it in or on the translucent glass bowl' [task_sampler.py: 1136] +05/25 20:31:09 INFO: [Worker 0] Worker 0 house 3593 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 20:31:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:33:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:37:15 INFO: [Worker 0] Worker 0 house 3593 episode 1 object objaflower_1c6aac0855104ecc907dcfa6823a2bc2_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 20:37:20 INFO: [Worker 0] Batching and saving trajectory data for house_3593: 2 episodes [pipeline.py: 233] +05/25 20:37:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:37:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:37:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:37:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:37:26 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3593 [save_utils.py: 703] +05/25 20:37:26 INFO: [Worker 0] Successfully saved trajectory data for house_3593 in 6.79s (batch: 6.48s, save: 0.32s) [pipeline.py: 280] +05/25 20:37:27 WARNING: [Worker 0] No trajectory data to save for house_3593 [pipeline.py: 229] +05/25 20:37:27 INFO: [Worker 0] Worker 0 completed house 3593: 0/2 successful episodes [pipeline.py: 1243] +05/25 20:37:27 INFO: [Worker 0] Worker 0 starting house 3600 (index 70/112) [pipeline.py: 473] +05/25 20:37:27 INFO: [Worker 0] Loaded 1 episodes for house 3600 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:37:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:38:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612 [json_eval_task_sampler.py: 648] +05/25 20:38:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/25 20:38:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/25 20:38:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3600_ceiling.xml [task_sampler.py: 797] +05/25 20:38:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3600, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:38:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:38:11 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/25 20:38:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:38:11 INFO: [Worker 0] Sampled task 'Pick up the black folding knife with accent and place it in or on the teal bowl with matte interior' [task_sampler.py: 1136] +05/25 20:38:11 INFO: [Worker 0] Worker 0 house 3600 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:38:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:40:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:46:07 INFO: [Worker 0] Worker 0 house 3600 episode 0 object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 20:46:11 INFO: [Worker 0] Batching and saving trajectory data for house_3600: 1 episodes [pipeline.py: 233] +05/25 20:46:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:46:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:46:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3600 [save_utils.py: 703] +05/25 20:46:14 INFO: [Worker 0] Successfully saved trajectory data for house_3600 in 3.08s (batch: 2.92s, save: 0.16s) [pipeline.py: 280] +05/25 20:46:15 WARNING: [Worker 0] No trajectory data to save for house_3600 [pipeline.py: 229] +05/25 20:46:15 INFO: [Worker 0] Worker 0 completed house 3600: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:46:15 INFO: [Worker 0] Worker 0 starting house 3653 (index 71/112) [pipeline.py: 473] +05/25 20:46:15 INFO: [Worker 0] Loaded 1 episodes for house 3653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:46:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:46:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 20:46:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/25 20:46:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/25 20:46:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3653_ceiling.xml [task_sampler.py: 797] +05/25 20:46:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3653, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:46:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:46:20 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/25 20:46:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:46:20 INFO: [Worker 0] Sampled task 'Pick up the black collar with sharp metal spikes and place it in or on the textured rustic bowl' [task_sampler.py: 1136] +05/25 20:46:20 INFO: [Worker 0] Worker 0 house 3653 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:46:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:46:21 WARNING: [Worker 0] Could not find object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_7 in scene [object_manager.py: 1238] +05/25 20:46:21 WARNING: [Worker 0] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_7 in scene [object_manager.py: 1238] +05/25 20:55:46 INFO: [Worker 0] Worker 0 house 3653 episode 0 object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 20:55:51 INFO: [Worker 0] Batching and saving trajectory data for house_3653: 1 episodes [pipeline.py: 233] +05/25 20:55:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:55:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:55:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3653 [save_utils.py: 703] +05/25 20:55:55 INFO: [Worker 0] Successfully saved trajectory data for house_3653 in 3.75s (batch: 3.57s, save: 0.17s) [pipeline.py: 280] +05/25 20:55:56 WARNING: [Worker 0] No trajectory data to save for house_3653 [pipeline.py: 229] +05/25 20:55:56 INFO: [Worker 0] Worker 0 completed house 3653: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:55:56 INFO: [Worker 0] Worker 0 starting house 3683 (index 72/112) [pipeline.py: 473] +05/25 20:55:56 INFO: [Worker 0] Loaded 1 episodes for house 3683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 20:55:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:56:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/25 20:56:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/25 20:56:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_12 [json_eval_task_sampler.py: 648] +05/25 20:56:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3683_ceiling.xml [task_sampler.py: 797] +05/25 20:56:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3683, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:56:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:56:32 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 20:56:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:56:32 INFO: [Worker 0] Sampled task 'Pick up the tall white candle with flame and place it in or on the white bowl with textured facets' [task_sampler.py: 1136] +05/25 20:56:32 INFO: [Worker 0] Worker 0 house 3683 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:56:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:59:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:05:23 INFO: [Worker 0] Worker 0 house 3683 episode 0 object objacandle_87909b23fead412dba98a6bb6ef6e7d4_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 21:05:28 INFO: [Worker 0] Batching and saving trajectory data for house_3683: 1 episodes [pipeline.py: 233] +05/25 21:05:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:05:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:05:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3683 [save_utils.py: 703] +05/25 21:05:33 INFO: [Worker 0] Successfully saved trajectory data for house_3683 in 4.29s (batch: 4.03s, save: 0.26s) [pipeline.py: 280] +05/25 21:05:34 WARNING: [Worker 0] No trajectory data to save for house_3683 [pipeline.py: 229] +05/25 21:05:34 INFO: [Worker 0] Worker 0 completed house 3683: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:05:34 INFO: [Worker 0] Worker 0 starting house 3761 (index 73/112) [pipeline.py: 473] +05/25 21:05:34 INFO: [Worker 0] Loaded 1 episodes for house 3761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 21:05:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:05:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_20 [json_eval_task_sampler.py: 648] +05/25 21:05:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/25 21:05:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134 [json_eval_task_sampler.py: 648] +05/25 21:05:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3761_ceiling.xml [task_sampler.py: 797] +05/25 21:05:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3761, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:05:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:05:47 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/25 21:05:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:05:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:05:48 INFO: [Worker 0] Sampled task 'Pick up the corroded metal piece and place it in or on the rustic metal bowl' [task_sampler.py: 1136] +05/25 21:05:48 INFO: [Worker 0] Worker 0 house 3761 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:05:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:15:26 INFO: [Worker 0] Worker 0 house 3761 episode 0 object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 21:15:30 INFO: [Worker 0] Batching and saving trajectory data for house_3761: 1 episodes [pipeline.py: 233] +05/25 21:15:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:15:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:15:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3761 [save_utils.py: 703] +05/25 21:15:33 INFO: [Worker 0] Successfully saved trajectory data for house_3761 in 3.22s (batch: 3.07s, save: 0.15s) [pipeline.py: 280] +05/25 21:15:34 WARNING: [Worker 0] No trajectory data to save for house_3761 [pipeline.py: 229] +05/25 21:15:34 INFO: [Worker 0] Worker 0 completed house 3761: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:15:34 INFO: [Worker 0] Worker 0 starting house 3793 (index 74/112) [pipeline.py: 473] +05/25 21:15:34 INFO: [Worker 0] Loaded 1 episodes for house 3793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 21:15:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:16:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 21:16:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 21:16:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_17 [json_eval_task_sampler.py: 648] +05/25 21:16:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3793_ceiling.xml [task_sampler.py: 797] +05/25 21:16:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3793, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:16:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:16:05 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 21:16:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:16:05 INFO: [Worker 0] Sampled task 'Pick up the blue puzzle piece with rainbow and place it in or on the red geometric patterned bowl' [task_sampler.py: 1136] +05/25 21:16:05 INFO: [Worker 0] Worker 0 house 3793 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:16:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:18:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:25:12 INFO: [Worker 0] Worker 0 house 3793 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 21:25:16 INFO: [Worker 0] Batching and saving trajectory data for house_3793: 1 episodes [pipeline.py: 233] +05/25 21:25:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:25:19 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3793 [save_utils.py: 703] +05/25 21:25:19 INFO: [Worker 0] Successfully saved trajectory data for house_3793 in 3.14s (batch: 2.98s, save: 0.16s) [pipeline.py: 280] +05/25 21:25:20 WARNING: [Worker 0] No trajectory data to save for house_3793 [pipeline.py: 229] +05/25 21:25:20 INFO: [Worker 0] Worker 0 completed house 3793: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:25:20 INFO: [Worker 0] Worker 0 starting house 3859 (index 75/112) [pipeline.py: 473] +05/25 21:25:20 INFO: [Worker 0] Loaded 1 episodes for house 3859 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 21:25:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:25:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/25 21:25:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 21:25:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 21:25:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3859_ceiling.xml [task_sampler.py: 797] +05/25 21:25:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3859, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:25:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:25:46 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/25 21:25:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:25:46 INFO: [Worker 0] Sampled task 'Pick up the sandwich with meat layers and place it in or on the white bowl with textured facets' [task_sampler.py: 1136] +05/25 21:25:46 INFO: [Worker 0] Worker 0 house 3859 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:25:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:25:46 WARNING: [Worker 0] Could not find object objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5 in scene [object_manager.py: 1238] +05/25 21:25:46 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene [object_manager.py: 1238] +05/25 21:27:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:33:16 INFO: [Worker 0] Worker 0 house 3859 episode 0 object objasandwich_20cdb2ea67d440b99c9eed06c12d7f2c_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 21:33:21 INFO: [Worker 0] Batching and saving trajectory data for house_3859: 1 episodes [pipeline.py: 233] +05/25 21:33:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:33:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:33:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3859 [save_utils.py: 703] +05/25 21:33:25 INFO: [Worker 0] Successfully saved trajectory data for house_3859 in 4.05s (batch: 3.81s, save: 0.23s) [pipeline.py: 280] +05/25 21:33:26 WARNING: [Worker 0] No trajectory data to save for house_3859 [pipeline.py: 229] +05/25 21:33:26 INFO: [Worker 0] Worker 0 completed house 3859: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:33:26 INFO: [Worker 0] Worker 0 starting house 3910 (index 76/112) [pipeline.py: 473] +05/25 21:33:26 INFO: [Worker 0] Loaded 1 episodes for house 3910 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 21:33:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:33:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/25 21:33:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 21:33:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/25 21:34:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3910_ceiling.xml [task_sampler.py: 797] +05/25 21:34:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3910, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:34:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:34:00 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 21:34:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:34:00 INFO: [Worker 0] Sampled task 'Pick up the fresh ginger root with colorful shoots and place it in or on the tan decorative bowl' [task_sampler.py: 1136] +05/25 21:34:00 INFO: [Worker 0] Worker 0 house 3910 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:34:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:37:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:41:25 INFO: [Worker 0] Worker 0 house 3910 episode 0 object objagingerroot_302be40cdf08485aac1111f39e70dbd0_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 21:41:28 INFO: [Worker 0] Batching and saving trajectory data for house_3910: 1 episodes [pipeline.py: 233] +05/25 21:41:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:41:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:41:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3910 [save_utils.py: 703] +05/25 21:41:31 INFO: [Worker 0] Successfully saved trajectory data for house_3910 in 2.56s (batch: 2.44s, save: 0.11s) [pipeline.py: 280] +05/25 21:41:31 WARNING: [Worker 0] No trajectory data to save for house_3910 [pipeline.py: 229] +05/25 21:41:31 INFO: [Worker 0] Worker 0 completed house 3910: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:41:31 INFO: [Worker 0] Worker 0 starting house 3956 (index 77/112) [pipeline.py: 473] +05/25 21:41:31 INFO: [Worker 0] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/25 21:41:31 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] +05/26 00:53:46 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] +05/26 00:54:22 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..a8420876add2be38c8f6c83309f714ed6c1dd1fb --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log @@ -0,0 +1,236 @@ +05/26 00:59:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 00:59:03 INFO: Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 00:59:03 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 00:59:03 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903'), + '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': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 00:59:03 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 00:59:03 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] +05/26 00:59:03 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 00:59:03 INFO: [Worker 0] Worker 0 starting house 3956 (index 0/35) [pipeline.py: 473] +05/26 00:59:03 INFO: [Worker 0] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 00:59:03 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] +05/26 01:02:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24 [json_eval_task_sampler.py: 648] +05/26 01:02:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/26 01:02:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/26 01:02:20 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 01:02:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3956_ceiling.xml [task_sampler.py: 797] +05/26 01:02:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3956, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:02:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:02:23 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 01:02:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:02:23 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with slots and place it in or on the rectangular platform with broad recessed center' [task_sampler.py: 1136] +05/26 01:02:23 INFO: [Worker 0] Worker 0 house 3956 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:02:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:09:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:13:07 INFO: [Worker 0] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:13:14 INFO: [Worker 0] Batching and saving trajectory data for house_3956: 1 episodes [pipeline.py: 233] +05/26 01:13:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:13:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:13:19 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/house_3956 [save_utils.py: 703] +05/26 01:13:19 INFO: [Worker 0] Successfully saved trajectory data for house_3956 in 5.34s (batch: 5.21s, save: 0.13s) [pipeline.py: 280] +05/26 01:13:20 WARNING: [Worker 0] No trajectory data to save for house_3956 [pipeline.py: 229] +05/26 01:13:20 INFO: [Worker 0] Worker 0 completed house 3956: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:13:20 INFO: [Worker 0] Worker 0 starting house 3970 (index 1/35) [pipeline.py: 473] +05/26 01:13:20 INFO: [Worker 0] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:13:20 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] +05/26 01:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/26 01:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/26 01:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/26 01:13:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3970_ceiling.xml [task_sampler.py: 797] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/26 01:13:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:13:26 INFO: [Worker 0] Sampled task 'Pick up the light beige hand and place it in or on the glossy dish' [task_sampler.py: 1136] +05/26 01:13:26 INFO: [Worker 0] Worker 0 house 3970 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 01:13:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:22:08 INFO: [Worker 0] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:22:12 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] +05/26 01:22:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/26 01:22:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/26 01:22:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/26 01:22:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3970_ceiling.xml [task_sampler.py: 797] +05/26 01:22:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:22:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:22:17 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/26 01:22:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:22:17 INFO: [Worker 0] Sampled task 'Pick up the triangular colorful patch with eye design and place it in or on the rectangular shallow glossy ceramic dish' [task_sampler.py: 1136] +05/26 01:22:17 INFO: [Worker 0] Worker 0 house 3970 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 01:22:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/running_log.log b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..9702b77ae0922a17922ecf713b16fd40b3aaa189 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/running_log.log @@ -0,0 +1,1229 @@ +05/26 01:04:41 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 01:04:41 INFO: Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 01:04:41 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 01:04:41 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + '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': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 01:04:41 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 01:04:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:41 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 01:04:41 INFO: [Worker 0] Worker 0 starting house 3956 (index 0/35) [pipeline.py: 473] +05/26 01:04:41 INFO: [Worker 0] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:04:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_24 [json_eval_task_sampler.py: 648] +05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/26 01:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/26 01:04:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 01:05:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3956_ceiling.xml [task_sampler.py: 797] +05/26 01:05:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3956, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:05:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:05:05 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 01:05:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:05:05 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with slots and place it in or on the rectangular platform with broad recessed center' [task_sampler.py: 1136] +05/26 01:05:05 INFO: [Worker 0] Worker 0 house 3956 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:05:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:09:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:13:08 INFO: [Worker 0] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:13:15 INFO: [Worker 0] Batching and saving trajectory data for house_3956: 1 episodes [pipeline.py: 233] +05/26 01:13:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:13:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:13:19 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 [save_utils.py: 703] +05/26 01:13:19 INFO: [Worker 0] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) [pipeline.py: 280] +05/26 01:13:20 WARNING: [Worker 0] No trajectory data to save for house_3956 [pipeline.py: 229] +05/26 01:13:20 INFO: [Worker 0] Worker 0 completed house 3956: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:13:20 INFO: [Worker 0] Worker 0 starting house 3970 (index 1/35) [pipeline.py: 473] +05/26 01:13:20 INFO: [Worker 0] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:13:20 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] +05/26 01:13:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/26 01:13:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/26 01:13:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/26 01:13:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3970_ceiling.xml [task_sampler.py: 797] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:13:26 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/26 01:13:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:13:26 INFO: [Worker 0] Sampled task 'Pick up the light beige hand and place it in or on the glossy dish' [task_sampler.py: 1136] +05/26 01:13:26 INFO: [Worker 0] Worker 0 house 3970 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 01:13:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:22:12 INFO: [Worker 0] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:22:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/26 01:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/26 01:22:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/26 01:22:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3970_ceiling.xml [task_sampler.py: 797] +05/26 01:22:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:22:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:22:22 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/26 01:22:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:22:22 INFO: [Worker 0] Sampled task 'Pick up the triangular colorful patch with eye design and place it in or on the rectangular shallow glossy ceramic dish' [task_sampler.py: 1136] +05/26 01:22:22 INFO: [Worker 0] Worker 0 house 3970 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 01:22:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:37:28 ERROR: [Worker 0] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt [pipeline.py: 1164] +05/26 01:37:32 INFO: [Worker 0] Batching and saving trajectory data for house_3970: 1 episodes [pipeline.py: 233] +05/26 01:37:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:37:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:37:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 [save_utils.py: 703] +05/26 01:37:35 INFO: [Worker 0] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) [pipeline.py: 280] +05/26 01:37:36 WARNING: [Worker 0] No trajectory data to save for house_3970 [pipeline.py: 229] +05/26 01:37:36 INFO: [Worker 0] Worker 0 completed house 3970: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:37:36 INFO: [Worker 0] Worker 0 starting house 3993 (index 2/35) [pipeline.py: 473] +05/26 01:37:36 INFO: [Worker 0] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:37:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/26 01:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 01:38:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/26 01:38:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3993_ceiling.xml [task_sampler.py: 797] +05/26 01:38:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:38:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:38:09 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 01:38:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:38:09 INFO: [Worker 0] Sampled task 'Pick up the black leather collar with spikes and place it in or on the square ashtray' [task_sampler.py: 1136] +05/26 01:38:09 INFO: [Worker 0] Worker 0 house 3993 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:38:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:38:10 WARNING: [Worker 0] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene [object_manager.py: 1238] +05/26 01:38:10 WARNING: [Worker 0] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene [object_manager.py: 1238] +05/26 01:38:10 WARNING: [Worker 0] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene [object_manager.py: 1238] +05/26 01:41:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:44:33 INFO: [Worker 0] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 01:44:37 INFO: [Worker 0] Batching and saving trajectory data for house_3993: 1 episodes [pipeline.py: 233] +05/26 01:44:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:44:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:44:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 [save_utils.py: 703] +05/26 01:44:39 INFO: [Worker 0] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/26 01:44:39 WARNING: [Worker 0] No trajectory data to save for house_3993 [pipeline.py: 229] +05/26 01:44:39 INFO: [Worker 0] Worker 0 completed house 3993: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:44:39 INFO: [Worker 0] Worker 0 starting house 4030 (index 3/35) [pipeline.py: 473] +05/26 01:44:39 INFO: [Worker 0] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:44:39 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] +05/26 01:53:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/26 01:53:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/26 01:53:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/26 01:54:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4030_ceiling.xml [task_sampler.py: 797] +05/26 01:54:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4030, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:54:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:54:02 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/26 01:54:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:54:02 INFO: [Worker 0] Sampled task 'Pick up the white green biofreeze pain relief tube and place it in or on the red and black container' [task_sampler.py: 1136] +05/26 01:54:02 INFO: [Worker 0] Worker 0 house 4030 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:54:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:58:21 INFO: [Worker 0] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 01:58:25 INFO: [Worker 0] Batching and saving trajectory data for house_4030: 1 episodes [pipeline.py: 233] +05/26 01:58:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:58:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:58:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 [save_utils.py: 703] +05/26 01:58:28 INFO: [Worker 0] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) [pipeline.py: 280] +05/26 01:58:29 WARNING: [Worker 0] No trajectory data to save for house_4030 [pipeline.py: 229] +05/26 01:58:29 INFO: [Worker 0] Worker 0 completed house 4030: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:58:29 INFO: [Worker 0] Worker 0 starting house 4086 (index 4/35) [pipeline.py: 473] +05/26 01:58:29 INFO: [Worker 0] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 01:58:29 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] +05/26 01:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/26 01:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 01:58:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/26 01:58:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4086_ceiling.xml [task_sampler.py: 797] +05/26 01:58:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4086, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:58:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:58:34 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 01:58:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:58:34 INFO: [Worker 0] Sampled task 'Pick up the cupcake with frosting and place it in or on the green bowl' [task_sampler.py: 1136] +05/26 01:58:34 INFO: [Worker 0] Worker 0 house 4086 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:58:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:06:29 INFO: [Worker 0] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 02:06:34 INFO: [Worker 0] Batching and saving trajectory data for house_4086: 1 episodes [pipeline.py: 233] +05/26 02:06:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:06:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:06:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 [save_utils.py: 703] +05/26 02:06:37 INFO: [Worker 0] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) [pipeline.py: 280] +05/26 02:06:38 WARNING: [Worker 0] No trajectory data to save for house_4086 [pipeline.py: 229] +05/26 02:06:38 INFO: [Worker 0] Worker 0 completed house 4086: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:06:38 INFO: [Worker 0] Worker 0 starting house 4156 (index 5/35) [pipeline.py: 473] +05/26 02:06:38 INFO: [Worker 0] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:06:38 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] +05/26 02:07:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e9670b35612840bd92354dd8936d3c6a [json_eval_task_sampler.py: 648] +05/26 02:07:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/26 02:07:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/26 02:07:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4156_ceiling.xml [task_sampler.py: 797] +05/26 02:07:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4156, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:07:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:07:11 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/26 02:07:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:07:11 INFO: [Worker 0] Sampled task 'Pick up the shiny gold cursive script and place it in or on the dark gray ceramic shallow bowl' [task_sampler.py: 1136] +05/26 02:07:11 INFO: [Worker 0] Worker 0 house 4156 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:07:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:07:11 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/26 02:10:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:14:45 INFO: [Worker 0] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 02:14:49 INFO: [Worker 0] Batching and saving trajectory data for house_4156: 1 episodes [pipeline.py: 233] +05/26 02:14:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:14:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:14:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 [save_utils.py: 703] +05/26 02:14:53 INFO: [Worker 0] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) [pipeline.py: 280] +05/26 02:14:54 WARNING: [Worker 0] No trajectory data to save for house_4156 [pipeline.py: 229] +05/26 02:14:54 INFO: [Worker 0] Worker 0 completed house 4156: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:14:54 INFO: [Worker 0] Worker 0 starting house 4236 (index 6/35) [pipeline.py: 473] +05/26 02:14:54 INFO: [Worker 0] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:14:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:14:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/26 02:14:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfae6fa9a7f64b9eb16f57c05553c612 [json_eval_task_sampler.py: 648] +05/26 02:14:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/26 02:14:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4236_ceiling.xml [task_sampler.py: 797] +05/26 02:14:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4236, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:14:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:14:57 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/26 02:14:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:14:57 INFO: [Worker 0] Sampled task 'Pick up the rectangular digital watch metallic and place it in or on the rustic round ceramic bowl with patterns' [task_sampler.py: 1136] +05/26 02:14:57 INFO: [Worker 0] Worker 0 house 4236 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:14:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:17:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:20:09 INFO: [Worker 0] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:20:14 INFO: [Worker 0] Batching and saving trajectory data for house_4236: 1 episodes [pipeline.py: 233] +05/26 02:20:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:20:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 [save_utils.py: 703] +05/26 02:20:17 INFO: [Worker 0] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) [pipeline.py: 280] +05/26 02:20:18 WARNING: [Worker 0] No trajectory data to save for house_4236 [pipeline.py: 229] +05/26 02:20:18 INFO: [Worker 0] Worker 0 completed house 4236: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:20:18 INFO: [Worker 0] Worker 0 starting house 4292 (index 7/35) [pipeline.py: 473] +05/26 02:20:18 INFO: [Worker 0] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:20:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:20:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/26 02:20:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/26 02:20:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 02:20:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4292_ceiling.xml [task_sampler.py: 797] +05/26 02:20:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4292, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:20:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:20:38 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/26 02:20:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:20:38 INFO: [Worker 0] Sampled task 'Pick up the white cylindrical lattice patterned ring and place it in or on the red and black chicken food container' [task_sampler.py: 1136] +05/26 02:20:38 INFO: [Worker 0] Worker 0 house 4292 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:20:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:28:45 INFO: [Worker 0] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 02:28:51 INFO: [Worker 0] Batching and saving trajectory data for house_4292: 1 episodes [pipeline.py: 233] +05/26 02:28:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:28:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 [save_utils.py: 703] +05/26 02:28:55 INFO: [Worker 0] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) [pipeline.py: 280] +05/26 02:28:56 WARNING: [Worker 0] No trajectory data to save for house_4292 [pipeline.py: 229] +05/26 02:28:56 INFO: [Worker 0] Worker 0 completed house 4292: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:28:56 INFO: [Worker 0] Worker 0 starting house 4357 (index 8/35) [pipeline.py: 473] +05/26 02:28:56 INFO: [Worker 0] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:28:56 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] +05/26 02:29:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/26 02:29:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_5 [json_eval_task_sampler.py: 648] +05/26 02:29:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/26 02:29:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4357_ceiling.xml [task_sampler.py: 797] +05/26 02:29:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4357, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:29:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:29:14 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 02:29:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:29:14 INFO: [Worker 0] Sampled task 'Pick up the purple octopus with tentacles and place it in or on the round light ashtray' [task_sampler.py: 1136] +05/26 02:29:14 INFO: [Worker 0] Worker 0 house 4357 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:29:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:36:37 INFO: [Worker 0] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 02:36:42 INFO: [Worker 0] Batching and saving trajectory data for house_4357: 1 episodes [pipeline.py: 233] +05/26 02:36:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:36:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:36:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 [save_utils.py: 703] +05/26 02:36:45 INFO: [Worker 0] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) [pipeline.py: 280] +05/26 02:36:46 WARNING: [Worker 0] No trajectory data to save for house_4357 [pipeline.py: 229] +05/26 02:36:46 INFO: [Worker 0] Worker 0 completed house 4357: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:36:46 INFO: [Worker 0] Worker 0 starting house 4375 (index 9/35) [pipeline.py: 473] +05/26 02:36:46 INFO: [Worker 0] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:36:46 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] +05/26 02:36:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d [json_eval_task_sampler.py: 648] +05/26 02:36:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/26 02:36:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/26 02:36:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4375_ceiling.xml [task_sampler.py: 797] +05/26 02:36:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4375, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:36:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:36:55 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/26 02:36:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:36:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:36:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:36:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:36:55 INFO: [Worker 0] Sampled task 'Pick up the ten of clubs card and place it in or on the round dish' [task_sampler.py: 1136] +05/26 02:36:55 INFO: [Worker 0] Worker 0 house 4375 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 02:36:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:36:56 WARNING: [Worker 0] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene [object_manager.py: 1238] +05/26 02:36:56 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene [object_manager.py: 1238] +05/26 02:45:39 INFO: [Worker 0] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 02:45:44 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] +05/26 02:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/659e6917a5b145fc88b46882fde3764d [json_eval_task_sampler.py: 648] +05/26 02:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/26 02:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/26 02:45:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4375_ceiling.xml [task_sampler.py: 797] +05/26 02:45:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4375, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:45:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:45:50 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/26 02:45:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:45:50 INFO: [Worker 0] Sampled task 'Pick up the citrus fruit and place it in or on the round shallow dish with scrollwork' [task_sampler.py: 1136] +05/26 02:45:50 INFO: [Worker 0] Worker 0 house 4375 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 02:45:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:45:51 WARNING: [Worker 0] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene [object_manager.py: 1238] +05/26 02:45:51 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene [object_manager.py: 1238] +05/26 02:49:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:54:08 INFO: [Worker 0] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 02:54:14 INFO: [Worker 0] Batching and saving trajectory data for house_4375: 2 episodes [pipeline.py: 233] +05/26 02:54:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:54:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:54:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:54:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:54:22 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 [save_utils.py: 703] +05/26 02:54:22 INFO: [Worker 0] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) [pipeline.py: 280] +05/26 02:54:22 WARNING: [Worker 0] No trajectory data to save for house_4375 [pipeline.py: 229] +05/26 02:54:22 INFO: [Worker 0] Worker 0 completed house 4375: 0/2 successful episodes [pipeline.py: 1243] +05/26 02:54:22 INFO: [Worker 0] Worker 0 starting house 4384 (index 10/35) [pipeline.py: 473] +05/26 02:54:22 INFO: [Worker 0] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 02:54:22 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] +05/26 02:54:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/26 02:54:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/26 02:54:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/26 02:54:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4384_ceiling.xml [task_sampler.py: 797] +05/26 02:54:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4384, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:54:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:54:35 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 02:54:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:54:35 INFO: [Worker 0] Sampled task 'Pick up the purple card with snowman drawing and place it in or on the asymmetrical ceramic bowl with blue-green glaze' [task_sampler.py: 1136] +05/26 02:54:35 INFO: [Worker 0] Worker 0 house 4384 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:54:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:54:37 WARNING: [Worker 0] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene [object_manager.py: 1238] +05/26 02:54:37 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/26 02:58:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:07:20 INFO: [Worker 0] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 03:07:24 INFO: [Worker 0] Batching and saving trajectory data for house_4384: 1 episodes [pipeline.py: 233] +05/26 03:07:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:07:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:07:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 [save_utils.py: 703] +05/26 03:07:28 INFO: [Worker 0] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) [pipeline.py: 280] +05/26 03:07:29 WARNING: [Worker 0] No trajectory data to save for house_4384 [pipeline.py: 229] +05/26 03:07:29 INFO: [Worker 0] Worker 0 completed house 4384: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:07:29 INFO: [Worker 0] Worker 0 starting house 4429 (index 11/35) [pipeline.py: 473] +05/26 03:07:29 INFO: [Worker 0] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:07:29 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] +05/26 03:07:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/26 03:07:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/26 03:07:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/26 03:07:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4429_ceiling.xml [task_sampler.py: 797] +05/26 03:07:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4429, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:07:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:07:36 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/26 03:07:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:07:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:07:36 INFO: [Worker 0] Sampled task 'Pick up the gaming mouse and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 03:07:36 INFO: [Worker 0] Worker 0 house 4429 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:07:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:11:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:14:57 INFO: [Worker 0] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 03:15:03 INFO: [Worker 0] Batching and saving trajectory data for house_4429: 1 episodes [pipeline.py: 233] +05/26 03:15:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:15:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:15:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 [save_utils.py: 703] +05/26 03:15:07 INFO: [Worker 0] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) [pipeline.py: 280] +05/26 03:15:07 WARNING: [Worker 0] No trajectory data to save for house_4429 [pipeline.py: 229] +05/26 03:15:07 INFO: [Worker 0] Worker 0 completed house 4429: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:15:07 INFO: [Worker 0] Worker 0 starting house 4502 (index 12/35) [pipeline.py: 473] +05/26 03:15:07 INFO: [Worker 0] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:15:07 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] +05/26 03:15:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/26 03:15:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/26 03:15:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/26 03:15:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4502_ceiling.xml [task_sampler.py: 797] +05/26 03:15:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:15:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:15:25 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 03:15:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:15:25 INFO: [Worker 0] Sampled task 'Pick up the green cup with cranes and place it in or on the small teal box with heart' [task_sampler.py: 1136] +05/26 03:15:25 INFO: [Worker 0] Worker 0 house 4502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:15:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:15:26 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/26 03:15:26 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene [object_manager.py: 1238] +05/26 03:15:26 WARNING: [Worker 0] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene [object_manager.py: 1238] +05/26 03:18:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:22:38 INFO: [Worker 0] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:22:42 INFO: [Worker 0] Batching and saving trajectory data for house_4502: 1 episodes [pipeline.py: 233] +05/26 03:22:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:22:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:22:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 [save_utils.py: 703] +05/26 03:22:45 INFO: [Worker 0] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) [pipeline.py: 280] +05/26 03:22:46 WARNING: [Worker 0] No trajectory data to save for house_4502 [pipeline.py: 229] +05/26 03:22:46 INFO: [Worker 0] Worker 0 completed house 4502: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:22:46 INFO: [Worker 0] Worker 0 starting house 4550 (index 13/35) [pipeline.py: 473] +05/26 03:22:46 INFO: [Worker 0] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:22:46 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] +05/26 03:22:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/26 03:22:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/26 03:22:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c44ac768e7304df58ebf13ba4c6eed11 [json_eval_task_sampler.py: 648] +05/26 03:22:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4550_ceiling.xml [task_sampler.py: 797] +05/26 03:22:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4550, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:22:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:22:57 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 03:22:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:22:57 INFO: [Worker 0] Sampled task 'Pick up the purple spray bottle with nozzle and place it in or on the gray rough textured bowl' [task_sampler.py: 1136] +05/26 03:22:57 INFO: [Worker 0] Worker 0 house 4550 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:22:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:22:57 WARNING: [Worker 0] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene [object_manager.py: 1238] +05/26 03:22:57 WARNING: [Worker 0] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene [object_manager.py: 1238] +05/26 03:24:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:30:31 INFO: [Worker 0] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 03:30:37 INFO: [Worker 0] Batching and saving trajectory data for house_4550: 1 episodes [pipeline.py: 233] +05/26 03:30:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:30:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:30:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 [save_utils.py: 703] +05/26 03:30:40 INFO: [Worker 0] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) [pipeline.py: 280] +05/26 03:30:41 WARNING: [Worker 0] No trajectory data to save for house_4550 [pipeline.py: 229] +05/26 03:30:41 INFO: [Worker 0] Worker 0 completed house 4550: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:30:41 INFO: [Worker 0] Worker 0 starting house 4618 (index 14/35) [pipeline.py: 473] +05/26 03:30:41 INFO: [Worker 0] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:30:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfdeafe4916c421e91dce2acb972d0f8 [json_eval_task_sampler.py: 648] +05/26 03:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/26 03:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/26 03:30:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4618_ceiling.xml [task_sampler.py: 797] +05/26 03:30:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4618, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:30:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:30:53 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 03:30:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:30:53 INFO: [Worker 0] Sampled task 'Pick up the ankle boot and place it in or on the metal rectangular tray' [task_sampler.py: 1136] +05/26 03:30:53 INFO: [Worker 0] Worker 0 house 4618 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:30:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:30:54 WARNING: [Worker 0] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene [object_manager.py: 1238] +05/26 03:30:54 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene [object_manager.py: 1238] +05/26 03:34:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:40:12 INFO: [Worker 0] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 03:40:17 INFO: [Worker 0] Batching and saving trajectory data for house_4618: 1 episodes [pipeline.py: 233] +05/26 03:40:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:40:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:40:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 [save_utils.py: 703] +05/26 03:40:21 INFO: [Worker 0] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) [pipeline.py: 280] +05/26 03:40:21 WARNING: [Worker 0] No trajectory data to save for house_4618 [pipeline.py: 229] +05/26 03:40:21 INFO: [Worker 0] Worker 0 completed house 4618: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:40:21 INFO: [Worker 0] Worker 0 starting house 4668 (index 15/35) [pipeline.py: 473] +05/26 03:40:21 INFO: [Worker 0] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:40:21 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] +05/26 03:40:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/26 03:40:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/26 03:40:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fdfd829fe39049a69f6df2289b29dc7f [json_eval_task_sampler.py: 648] +05/26 03:40:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4668_ceiling.xml [task_sampler.py: 797] +05/26 03:40:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4668, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:40:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:40:35 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 03:40:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:40:35 INFO: [Worker 0] Sampled task 'Pick up the dark green handheld barcode scanner and place it in or on the metallic tray' [task_sampler.py: 1136] +05/26 03:40:35 INFO: [Worker 0] Worker 0 house 4668 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:40:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:40:35 WARNING: [Worker 0] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene [object_manager.py: 1238] +05/26 03:40:35 WARNING: [Worker 0] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene [object_manager.py: 1238] +05/26 03:46:23 INFO: [Worker 0] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 03:46:26 INFO: [Worker 0] Batching and saving trajectory data for house_4668: 1 episodes [pipeline.py: 233] +05/26 03:46:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:46:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:46:29 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 [save_utils.py: 703] +05/26 03:46:29 INFO: [Worker 0] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) [pipeline.py: 280] +05/26 03:46:29 WARNING: [Worker 0] No trajectory data to save for house_4668 [pipeline.py: 229] +05/26 03:46:29 INFO: [Worker 0] Worker 0 completed house 4668: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:46:29 INFO: [Worker 0] Worker 0 starting house 4710 (index 16/35) [pipeline.py: 473] +05/26 03:46:29 INFO: [Worker 0] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 03:46:29 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] +05/26 03:46:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_18 [json_eval_task_sampler.py: 648] +05/26 03:46:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/26 03:46:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/659e6917a5b145fc88b46882fde3764d [json_eval_task_sampler.py: 648] +05/26 03:46:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4710_ceiling.xml [task_sampler.py: 797] +05/26 03:46:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4710, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:46:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:46:45 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 03:46:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:46:45 INFO: [Worker 0] Sampled task 'Pick up the spring and place it in or on the round wooden bowl' [task_sampler.py: 1136] +05/26 03:46:45 INFO: [Worker 0] Worker 0 house 4710 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:46:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene [object_manager.py: 1238] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene [object_manager.py: 1238] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene [object_manager.py: 1238] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene [object_manager.py: 1238] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene [object_manager.py: 1238] +05/26 03:46:46 WARNING: [Worker 0] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene [object_manager.py: 1238] +05/26 04:05:34 INFO: [Worker 0] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 04:05:39 INFO: [Worker 0] Batching and saving trajectory data for house_4710: 1 episodes [pipeline.py: 233] +05/26 04:05:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:05:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:05:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 [save_utils.py: 703] +05/26 04:05:42 INFO: [Worker 0] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) [pipeline.py: 280] +05/26 04:05:43 WARNING: [Worker 0] No trajectory data to save for house_4710 [pipeline.py: 229] +05/26 04:05:43 INFO: [Worker 0] Worker 0 completed house 4710: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:05:43 INFO: [Worker 0] Worker 0 starting house 4747 (index 17/35) [pipeline.py: 473] +05/26 04:05:43 INFO: [Worker 0] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:05:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/26 04:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/26 04:05:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/26 04:06:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4747_ceiling.xml [task_sampler.py: 797] +05/26 04:06:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4747, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:06:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:06:01 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/26 04:06:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:06:01 INFO: [Worker 0] Sampled task 'Pick up the round dark hanging pot with kernels and place it in or on the translucent smooth glass conical bowl' [task_sampler.py: 1136] +05/26 04:06:01 INFO: [Worker 0] Worker 0 house 4747 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:06:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:07:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:12:08 INFO: [Worker 0] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:12:13 INFO: [Worker 0] Batching and saving trajectory data for house_4747: 1 episodes [pipeline.py: 233] +05/26 04:12:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:12:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 [save_utils.py: 703] +05/26 04:12:17 INFO: [Worker 0] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) [pipeline.py: 280] +05/26 04:12:17 WARNING: [Worker 0] No trajectory data to save for house_4747 [pipeline.py: 229] +05/26 04:12:17 INFO: [Worker 0] Worker 0 completed house 4747: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:12:17 INFO: [Worker 0] Worker 0 starting house 4786 (index 18/35) [pipeline.py: 473] +05/26 04:12:17 INFO: [Worker 0] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:12:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:12:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/26 04:12:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f486de07c6f347588bcd3d22456f328d [json_eval_task_sampler.py: 648] +05/26 04:12:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/26 04:12:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4786_ceiling.xml [task_sampler.py: 797] +05/26 04:12:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4786, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:12:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:12:29 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 04:12:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:12:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:12:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:12:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:12:29 INFO: [Worker 0] Sampled task 'Pick up the digitalcamera and place it in or on the tray' [task_sampler.py: 1136] +05/26 04:12:29 INFO: [Worker 0] Worker 0 house 4786 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:12:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:12:29 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 04:12:29 WARNING: [Worker 0] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene [object_manager.py: 1238] +05/26 04:12:29 WARNING: [Worker 0] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene [object_manager.py: 1238] +05/26 04:16:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:21:43 INFO: [Worker 0] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 04:21:47 INFO: [Worker 0] Batching and saving trajectory data for house_4786: 1 episodes [pipeline.py: 233] +05/26 04:21:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:21:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:21:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 [save_utils.py: 703] +05/26 04:21:49 INFO: [Worker 0] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) [pipeline.py: 280] +05/26 04:21:50 WARNING: [Worker 0] No trajectory data to save for house_4786 [pipeline.py: 229] +05/26 04:21:50 INFO: [Worker 0] Worker 0 completed house 4786: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:21:50 INFO: [Worker 0] Worker 0 starting house 4788 (index 19/35) [pipeline.py: 473] +05/26 04:21:50 INFO: [Worker 0] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:21:50 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] +05/26 04:21:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/26 04:21:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/26 04:21:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28 [json_eval_task_sampler.py: 648] +05/26 04:21:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4788_ceiling.xml [task_sampler.py: 797] +05/26 04:21:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4788, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:21:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:21:57 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/26 04:21:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:21:58 INFO: [Worker 0] Sampled task 'Pick up the lighter and place it in or on the decorative ceramic bowl' [task_sampler.py: 1136] +05/26 04:21:58 INFO: [Worker 0] Worker 0 house 4788 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 04:21:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:23:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:27:17 INFO: [Worker 0] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 04:27:22 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] +05/26 04:27:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/26 04:27:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/26 04:27:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_28 [json_eval_task_sampler.py: 648] +05/26 04:27:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4788_ceiling.xml [task_sampler.py: 797] +05/26 04:27:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4788, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:27:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:27:29 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/26 04:27:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:27:29 INFO: [Worker 0] Sampled task 'Pick up the ceramic floral sugar bowl with handles and place it in or on the green bowl' [task_sampler.py: 1136] +05/26 04:27:29 INFO: [Worker 0] Worker 0 house 4788 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 04:27:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:30:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:34:06 INFO: [Worker 0] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 04:34:09 INFO: [Worker 0] Batching and saving trajectory data for house_4788: 2 episodes [pipeline.py: 233] +05/26 04:34:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:34:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:34:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:34:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:34:15 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 [save_utils.py: 703] +05/26 04:34:15 INFO: [Worker 0] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) [pipeline.py: 280] +05/26 04:34:16 WARNING: [Worker 0] No trajectory data to save for house_4788 [pipeline.py: 229] +05/26 04:34:16 INFO: [Worker 0] Worker 0 completed house 4788: 0/2 successful episodes [pipeline.py: 1243] +05/26 04:34:16 INFO: [Worker 0] Worker 0 starting house 4815 (index 20/35) [pipeline.py: 473] +05/26 04:34:16 INFO: [Worker 0] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:34:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:34:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/26 04:34:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/26 04:34:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_14 [json_eval_task_sampler.py: 648] +05/26 04:34:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4815_ceiling.xml [task_sampler.py: 797] +05/26 04:34:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4815, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:34:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:34:29 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 04:34:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:34:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:34:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:34:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:34:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:34:30 INFO: [Worker 0] Sampled task 'Pick up the metal mechanical clamp with cable arms and place it in or on the rectangular metallic tray' [task_sampler.py: 1136] +05/26 04:34:30 INFO: [Worker 0] Worker 0 house 4815 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:34:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:36:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:38:44 INFO: [Worker 0] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 04:38:47 INFO: [Worker 0] Batching and saving trajectory data for house_4815: 1 episodes [pipeline.py: 233] +05/26 04:38:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:38:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:38:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 [save_utils.py: 703] +05/26 04:38:50 INFO: [Worker 0] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) [pipeline.py: 280] +05/26 04:38:50 WARNING: [Worker 0] No trajectory data to save for house_4815 [pipeline.py: 229] +05/26 04:38:50 INFO: [Worker 0] Worker 0 completed house 4815: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:38:50 INFO: [Worker 0] Worker 0 starting house 4871 (index 21/35) [pipeline.py: 473] +05/26 04:38:50 INFO: [Worker 0] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:38:50 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] +05/26 04:38:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/26 04:38:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/26 04:38:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/26 04:39:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4871_ceiling.xml [task_sampler.py: 797] +05/26 04:39:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4871, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:39:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:39:00 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/26 04:39:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:39:00 INFO: [Worker 0] Sampled task 'Pick up the cylindrical tape with zigzag pattern and place it in or on the rustic bowl' [task_sampler.py: 1136] +05/26 04:39:00 INFO: [Worker 0] Worker 0 house 4871 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:39:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:39:00 WARNING: [Worker 0] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene [object_manager.py: 1238] +05/26 04:39:00 WARNING: [Worker 0] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene [object_manager.py: 1238] +05/26 04:45:37 INFO: [Worker 0] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 04:45:41 INFO: [Worker 0] Batching and saving trajectory data for house_4871: 1 episodes [pipeline.py: 233] +05/26 04:45:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:45:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:45:44 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 [save_utils.py: 703] +05/26 04:45:44 INFO: [Worker 0] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) [pipeline.py: 280] +05/26 04:45:45 WARNING: [Worker 0] No trajectory data to save for house_4871 [pipeline.py: 229] +05/26 04:45:45 INFO: [Worker 0] Worker 0 completed house 4871: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:45:45 INFO: [Worker 0] Worker 0 starting house 4953 (index 22/35) [pipeline.py: 473] +05/26 04:45:45 INFO: [Worker 0] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:45:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/71c1d24834ca4725963d69d5bb0a5011 [json_eval_task_sampler.py: 648] +05/26 04:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/26 04:45:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/26 04:45:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4953_ceiling.xml [task_sampler.py: 797] +05/26 04:45:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4953, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:45:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:45:49 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/26 04:45:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:45:49 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool and place it in or on the shallow wide terracotta bowl' [task_sampler.py: 1136] +05/26 04:45:49 INFO: [Worker 0] Worker 0 house 4953 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:45:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:45:49 WARNING: [Worker 0] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene [object_manager.py: 1238] +05/26 04:45:49 WARNING: [Worker 0] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene [object_manager.py: 1238] +05/26 04:48:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:50:59 INFO: [Worker 0] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 04:51:03 INFO: [Worker 0] Batching and saving trajectory data for house_4953: 1 episodes [pipeline.py: 233] +05/26 04:51:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:51:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:51:06 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 [save_utils.py: 703] +05/26 04:51:06 INFO: [Worker 0] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) [pipeline.py: 280] +05/26 04:51:07 WARNING: [Worker 0] No trajectory data to save for house_4953 [pipeline.py: 229] +05/26 04:51:07 INFO: [Worker 0] Worker 0 completed house 4953: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:51:07 INFO: [Worker 0] Worker 0 starting house 5002 (index 23/35) [pipeline.py: 473] +05/26 04:51:07 INFO: [Worker 0] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:51:07 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] +05/26 04:51:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/26 04:51:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_25 [json_eval_task_sampler.py: 648] +05/26 04:51:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/26 04:51:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5002_ceiling.xml [task_sampler.py: 797] +05/26 04:51:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5002, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:51:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:51:23 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/26 04:51:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:51:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:51:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:51:23 INFO: [Worker 0] Sampled task 'Pick up the servicebell and place it in or on the rustic round clay dish with handles' [task_sampler.py: 1136] +05/26 04:51:23 INFO: [Worker 0] Worker 0 house 5002 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:51:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:56:55 INFO: [Worker 0] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 04:56:59 INFO: [Worker 0] Batching and saving trajectory data for house_5002: 1 episodes [pipeline.py: 233] +05/26 04:56:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:57:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:57:02 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 [save_utils.py: 703] +05/26 04:57:02 INFO: [Worker 0] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) [pipeline.py: 280] +05/26 04:57:03 WARNING: [Worker 0] No trajectory data to save for house_5002 [pipeline.py: 229] +05/26 04:57:03 INFO: [Worker 0] Worker 0 completed house 5002: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:57:03 INFO: [Worker 0] Worker 0 starting house 5057 (index 24/35) [pipeline.py: 473] +05/26 04:57:03 INFO: [Worker 0] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 04:57:03 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] +05/26 04:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134 [json_eval_task_sampler.py: 648] +05/26 04:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_28 [json_eval_task_sampler.py: 648] +05/26 04:57:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/26 04:57:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5057_ceiling.xml [task_sampler.py: 797] +05/26 04:57:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5057, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:57:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:57:08 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 04:57:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:57:08 INFO: [Worker 0] Sampled task 'Pick up the purple and yellow wand and place it in or on the blue cooking pot with handles' [task_sampler.py: 1136] +05/26 04:57:08 INFO: [Worker 0] Worker 0 house 5057 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:57:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:00:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:02:20 INFO: [Worker 0] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True [pipeline.py: 1114] +05/26 05:02:23 INFO: [Worker 0] Batching and saving trajectory data for house_5057: 1 episodes [pipeline.py: 233] +05/26 05:02:23 INFO: [Worker 0] Preparing episode data: 205 timesteps [save_utils.py: 284] +05/26 05:02:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:02:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 [save_utils.py: 703] +05/26 05:02:26 INFO: [Worker 0] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) [pipeline.py: 280] +05/26 05:02:26 WARNING: [Worker 0] No trajectory data to save for house_5057 [pipeline.py: 229] +05/26 05:02:26 INFO: [Worker 0] Worker 0 completed house 5057: 1/1 successful episodes [pipeline.py: 1243] +05/26 05:02:26 INFO: [Worker 0] Worker 0 starting house 5132 (index 25/35) [pipeline.py: 473] +05/26 05:02:26 INFO: [Worker 0] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:02:26 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] +05/26 05:02:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/26 05:02:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/26 05:02:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 05:02:34 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 05:02:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5132_ceiling.xml [task_sampler.py: 797] +05/26 05:02:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5132, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:02:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:02:40 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/26 05:02:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:02:40 INFO: [Worker 0] Sampled task 'Pick up the wooden handled tool and place it in or on the glossy ceramic bowl' [task_sampler.py: 1136] +05/26 05:02:40 INFO: [Worker 0] Worker 0 house 5132 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:02:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:02:40 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/26 05:09:08 INFO: [Worker 0] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False [pipeline.py: 1114] +05/26 05:09:13 INFO: [Worker 0] Batching and saving trajectory data for house_5132: 1 episodes [pipeline.py: 233] +05/26 05:09:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:09:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:09:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 [save_utils.py: 703] +05/26 05:09:17 INFO: [Worker 0] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) [pipeline.py: 280] +05/26 05:09:18 WARNING: [Worker 0] No trajectory data to save for house_5132 [pipeline.py: 229] +05/26 05:09:18 INFO: [Worker 0] Worker 0 completed house 5132: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:09:18 INFO: [Worker 0] Worker 0 starting house 5142 (index 26/35) [pipeline.py: 473] +05/26 05:09:18 INFO: [Worker 0] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:09:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:09:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 05:09:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/26 05:09:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/26 05:09:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5142_ceiling.xml [task_sampler.py: 797] +05/26 05:09:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:09:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:09:41 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/26 05:09:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:09:41 INFO: [Worker 0] Sampled task 'Pick up the red beaded ornament and place it in or on the green rectangular box with snowflakes' [task_sampler.py: 1136] +05/26 05:09:41 INFO: [Worker 0] Worker 0 house 5142 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 05:09:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:20:01 INFO: [Worker 0] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 05:20:05 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] +05/26 05:20:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 05:20:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/26 05:20:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/26 05:20:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5142_ceiling.xml [task_sampler.py: 797] +05/26 05:20:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:20:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:20:17 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/26 05:20:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:20:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:20:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:20:17 INFO: [Worker 0] Sampled task 'Pick up the white green biofreeze pain relief tube and place it in or on the colorful pixelated ramen bowl' [task_sampler.py: 1136] +05/26 05:20:17 INFO: [Worker 0] Worker 0 house 5142 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 05:20:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:29:22 INFO: [Worker 0] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 05:29:28 INFO: [Worker 0] Batching and saving trajectory data for house_5142: 2 episodes [pipeline.py: 233] +05/26 05:29:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:29:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:29:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:29:37 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 [save_utils.py: 703] +05/26 05:29:37 INFO: [Worker 0] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) [pipeline.py: 280] +05/26 05:29:38 WARNING: [Worker 0] No trajectory data to save for house_5142 [pipeline.py: 229] +05/26 05:29:38 INFO: [Worker 0] Worker 0 completed house 5142: 0/2 successful episodes [pipeline.py: 1243] +05/26 05:29:38 INFO: [Worker 0] Worker 0 starting house 5174 (index 27/35) [pipeline.py: 473] +05/26 05:29:38 INFO: [Worker 0] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:29:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:29:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/26 05:29:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/26 05:29:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/26 05:30:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5174_ceiling.xml [task_sampler.py: 797] +05/26 05:30:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5174, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:30:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:30:02 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 05:30:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:30:02 INFO: [Worker 0] Sampled task 'Pick up the pulp-free orange juice carton and place it in or on the brown wooden leaf tray' [task_sampler.py: 1136] +05/26 05:30:02 INFO: [Worker 0] Worker 0 house 5174 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:30:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:33:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:37:49 INFO: [Worker 0] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 05:37:53 INFO: [Worker 0] Batching and saving trajectory data for house_5174: 1 episodes [pipeline.py: 233] +05/26 05:37:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:37:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:37:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 [save_utils.py: 703] +05/26 05:37:55 INFO: [Worker 0] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) [pipeline.py: 280] +05/26 05:37:56 WARNING: [Worker 0] No trajectory data to save for house_5174 [pipeline.py: 229] +05/26 05:37:56 INFO: [Worker 0] Worker 0 completed house 5174: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:37:56 INFO: [Worker 0] Worker 0 starting house 5237 (index 28/35) [pipeline.py: 473] +05/26 05:37:56 INFO: [Worker 0] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:37:56 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] +05/26 05:37:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/55bd2652583048adb5f261974f28b134 [json_eval_task_sampler.py: 648] +05/26 05:37:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4 [json_eval_task_sampler.py: 648] +05/26 05:37:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24464015c15b4662a32be7625ae3f75b [json_eval_task_sampler.py: 648] +05/26 05:38:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5237_ceiling.xml [task_sampler.py: 797] +05/26 05:38:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5237, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:38:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:38:04 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/26 05:38:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:38:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:38:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:38:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:38:04 INFO: [Worker 0] Sampled task 'Pick up the yellow corn cob with green husk and place it in or on the round metallic bowl with patina' [task_sampler.py: 1136] +05/26 05:38:04 INFO: [Worker 0] Worker 0 house 5237 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:38:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:38:04 WARNING: [Worker 0] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene [object_manager.py: 1238] +05/26 05:38:04 WARNING: [Worker 0] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene [object_manager.py: 1238] +05/26 05:46:52 INFO: [Worker 0] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 05:46:56 INFO: [Worker 0] Batching and saving trajectory data for house_5237: 1 episodes [pipeline.py: 233] +05/26 05:46:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:47:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:47:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 [save_utils.py: 703] +05/26 05:47:00 INFO: [Worker 0] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) [pipeline.py: 280] +05/26 05:47:01 WARNING: [Worker 0] No trajectory data to save for house_5237 [pipeline.py: 229] +05/26 05:47:01 INFO: [Worker 0] Worker 0 completed house 5237: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:47:01 INFO: [Worker 0] Worker 0 starting house 5314 (index 29/35) [pipeline.py: 473] +05/26 05:47:01 INFO: [Worker 0] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:47:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:47:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6 [json_eval_task_sampler.py: 648] +05/26 05:47:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/26 05:47:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/26 05:47:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5314_ceiling.xml [task_sampler.py: 797] +05/26 05:47:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5314, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:47:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:47:10 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 05:47:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:47:10 INFO: [Worker 0] Sampled task 'Pick up the realistic yellow lemon with sticker and place it in or on the jade green patterned bowl' [task_sampler.py: 1136] +05/26 05:47:10 INFO: [Worker 0] Worker 0 house 5314 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:47:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:47:11 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene [object_manager.py: 1238] +05/26 05:47:11 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/26 05:56:24 INFO: [Worker 0] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 05:56:28 INFO: [Worker 0] Batching and saving trajectory data for house_5314: 1 episodes [pipeline.py: 233] +05/26 05:56:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:56:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:56:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 [save_utils.py: 703] +05/26 05:56:31 INFO: [Worker 0] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) [pipeline.py: 280] +05/26 05:56:31 WARNING: [Worker 0] No trajectory data to save for house_5314 [pipeline.py: 229] +05/26 05:56:31 INFO: [Worker 0] Worker 0 completed house 5314: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:56:31 INFO: [Worker 0] Worker 0 starting house 5387 (index 30/35) [pipeline.py: 473] +05/26 05:56:31 INFO: [Worker 0] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 05:56:31 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] +05/26 05:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/26 05:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 05:56:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/26 05:56:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5387_ceiling.xml [task_sampler.py: 797] +05/26 05:56:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5387, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:56:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:56:37 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 05:56:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:56:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:56:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:56:37 INFO: [Worker 0] Sampled task 'Pick up the blue futuristic collectible card and place it in or on the round dark stone bowl with rim' [task_sampler.py: 1136] +05/26 05:56:37 INFO: [Worker 0] Worker 0 house 5387 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:56:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:58:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:01:52 INFO: [Worker 0] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 06:01:55 INFO: [Worker 0] Batching and saving trajectory data for house_5387: 1 episodes [pipeline.py: 233] +05/26 06:01:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:01:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:01:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 [save_utils.py: 703] +05/26 06:01:58 INFO: [Worker 0] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/26 06:01:58 WARNING: [Worker 0] No trajectory data to save for house_5387 [pipeline.py: 229] +05/26 06:01:58 INFO: [Worker 0] Worker 0 completed house 5387: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:01:58 INFO: [Worker 0] Worker 0 starting house 5435 (index 31/35) [pipeline.py: 473] +05/26 06:01:58 INFO: [Worker 0] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 06:01:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7b3bfdab414148a08cbf46fc105e280a [json_eval_task_sampler.py: 648] +05/26 06:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/26 06:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/53c885e05492439cace4cc626fec00cc [json_eval_task_sampler.py: 648] +05/26 06:02:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5435_ceiling.xml [task_sampler.py: 797] +05/26 06:02:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5435, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:02:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:02:15 INFO: [Worker 0] randomize_scene: Setting poses for 117 objects [json_eval_task_sampler.py: 686] +05/26 06:02:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:02:16 INFO: [Worker 0] Sampled task 'Pick up the pale off-white stone arrowhead and place it in or on the rusty metal tray with meat' [task_sampler.py: 1136] +05/26 06:02:16 INFO: [Worker 0] Worker 0 house 5435 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:02:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:04:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:12:10 INFO: [Worker 0] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 06:12:15 INFO: [Worker 0] Batching and saving trajectory data for house_5435: 1 episodes [pipeline.py: 233] +05/26 06:12:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:12:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:12:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 [save_utils.py: 703] +05/26 06:12:18 INFO: [Worker 0] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) [pipeline.py: 280] +05/26 06:12:19 WARNING: [Worker 0] No trajectory data to save for house_5435 [pipeline.py: 229] +05/26 06:12:19 INFO: [Worker 0] Worker 0 completed house 5435: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:12:19 INFO: [Worker 0] Worker 0 starting house 5479 (index 32/35) [pipeline.py: 473] +05/26 06:12:19 INFO: [Worker 0] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 06:12:19 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] +05/26 06:12:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/26 06:12:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b [json_eval_task_sampler.py: 648] +05/26 06:12:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134 [json_eval_task_sampler.py: 648] +05/26 06:12:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5479_ceiling.xml [task_sampler.py: 797] +05/26 06:12:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5479, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:12:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:12:46 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/26 06:12:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:12:46 INFO: [Worker 0] Sampled task 'Pick up the black smartphone with cameras and place it in or on the round terracotta clay serving dish' [task_sampler.py: 1136] +05/26 06:12:46 INFO: [Worker 0] Worker 0 house 5479 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:12:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:15:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:20:43 INFO: [Worker 0] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:20:48 INFO: [Worker 0] Batching and saving trajectory data for house_5479: 1 episodes [pipeline.py: 233] +05/26 06:20:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:20:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:20:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 [save_utils.py: 703] +05/26 06:20:53 INFO: [Worker 0] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) [pipeline.py: 280] +05/26 06:20:53 WARNING: [Worker 0] No trajectory data to save for house_5479 [pipeline.py: 229] +05/26 06:20:53 INFO: [Worker 0] Worker 0 completed house 5479: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:20:53 INFO: [Worker 0] Worker 0 starting house 5508 (index 33/35) [pipeline.py: 473] +05/26 06:20:53 INFO: [Worker 0] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 06:20:53 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] +05/26 06:21:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/26 06:21:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cb8931cc79b24d9cacb1d12349594c3b [json_eval_task_sampler.py: 648] +05/26 06:21:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/26 06:21:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5508_ceiling.xml [task_sampler.py: 797] +05/26 06:21:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5508, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:21:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:21:17 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects [json_eval_task_sampler.py: 686] +05/26 06:21:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:21:17 INFO: [Worker 0] Sampled task 'Pick up the bottleopener and place it in or on the ceramic bowl filled with rice and peas' [task_sampler.py: 1136] +05/26 06:21:17 INFO: [Worker 0] Worker 0 house 5508 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:21:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:21:17 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/26 06:21:17 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene [object_manager.py: 1238] +05/26 06:24:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:27:10 INFO: [Worker 0] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:27:13 INFO: [Worker 0] Batching and saving trajectory data for house_5508: 1 episodes [pipeline.py: 233] +05/26 06:27:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:27:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:27:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 [save_utils.py: 703] +05/26 06:27:16 INFO: [Worker 0] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) [pipeline.py: 280] +05/26 06:27:17 WARNING: [Worker 0] No trajectory data to save for house_5508 [pipeline.py: 229] +05/26 06:27:17 INFO: [Worker 0] Worker 0 completed house 5508: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:27:17 INFO: [Worker 0] Worker 0 starting house 5543 (index 34/35) [pipeline.py: 473] +05/26 06:27:17 INFO: [Worker 0] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 [json_eval_runner.py: 278] +05/26 06:27:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:27:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/26 06:27:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/26 06:27:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/54c702aeeb634157ab6bfd6c2f7a78c2 [json_eval_task_sampler.py: 648] +05/26 06:27:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5543_ceiling.xml [task_sampler.py: 797] +05/26 06:27:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5543, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:27:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:27:21 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 06:27:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:27:21 INFO: [Worker 0] Sampled task 'Pick up the moka pot and place it in or on the rustic stone bowl with bird spout' [task_sampler.py: 1136] +05/26 06:27:21 INFO: [Worker 0] Worker 0 house 5543 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:27:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:29:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:33:08 INFO: [Worker 0] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:33:11 INFO: [Worker 0] Batching and saving trajectory data for house_5543: 1 episodes [pipeline.py: 233] +05/26 06:33:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:33:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:33:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 [save_utils.py: 703] +05/26 06:33:14 INFO: [Worker 0] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/26 06:33:15 WARNING: [Worker 0] No trajectory data to save for house_5543 [pipeline.py: 229] +05/26 06:33:15 INFO: [Worker 0] Worker 0 completed house 5543: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:33:15 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/26 06:33:15 INFO: Completed 35 houses, skipped 0 houses [pipeline.py: 1496] +05/26 06:33:15 INFO: Success count: 1, Total count: 38 [pipeline.py: 1499] +05/26 06:33:15 INFO: Success rate: 2.63% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_03/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5c016b073d481371e236afb308379a24813282c --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/episode_results.jsonl @@ -0,0 +1,38 @@ +{"house_id": "house_3956", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with slots and place it in or on the rectangular platform with broad recessed center", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3970", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light beige hand and place it in or on the glossy dish", "object_name": "objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the square ashtray", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white green biofreeze pain relief tube and place it in or on the red and black container", "object_name": "objatube_747652d3308142278b333f1e2ee13549_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4086", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cupcake with frosting and place it in or on the green bowl", "object_name": "objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4156", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold cursive script and place it in or on the dark gray ceramic shallow bowl", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4236", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular digital watch metallic and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4292", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white cylindrical lattice patterned ring and place it in or on the red and black chicken food container", "object_name": "objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple octopus with tentacles and place it in or on the round light ashtray", "object_name": "objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4375", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ten of clubs card and place it in or on the round dish", "object_name": "objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4375", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the citrus fruit and place it in or on the round shallow dish with scrollwork", "object_name": "objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple card with snowman drawing and place it in or on the asymmetrical ceramic bowl with blue-green glaze", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4429", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gaming mouse and place it in or on the gray bowl", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cup with cranes and place it in or on the small teal box with heart", "object_name": "objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4550", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple spray bottle with nozzle and place it in or on the gray rough textured bowl", "object_name": "atomizer_973bce9435d852757b03afc168e4c1df_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4618", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ankle boot and place it in or on the metal rectangular tray", "object_name": "objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4668", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green handheld barcode scanner and place it in or on the metallic tray", "object_name": "objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spring and place it in or on the round wooden bowl", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4747", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it in or on the translucent smooth glass conical bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4786", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digitalcamera and place it in or on the tray", "object_name": "objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4788", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lighter and place it in or on the decorative ceramic bowl", "object_name": "objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4788", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic floral sugar bowl with handles and place it in or on the green bowl", "object_name": "objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4815", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal mechanical clamp with cable arms and place it in or on the rectangular metallic tray", "object_name": "objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the rustic bowl", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4953", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool and place it in or on the shallow wide terracotta bowl", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5002", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the servicebell and place it in or on the rustic round clay dish with handles", "object_name": "objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5057", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 203, "task_description": "Pick up the purple and yellow wand and place it in or on the blue cooking pot with handles", "object_name": "objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handled tool and place it in or on the glossy ceramic bowl", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red beaded ornament and place it in or on the green rectangular box with snowflakes", "object_name": "objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white green biofreeze pain relief tube and place it in or on the colorful pixelated ramen bowl", "object_name": "objatube_747652d3308142278b333f1e2ee13549_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pulp-free orange juice carton and place it in or on the brown wooden leaf tray", "object_name": "objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow corn cob with green husk and place it in or on the round metallic bowl with patina", "object_name": "objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic yellow lemon with sticker and place it in or on the jade green patterned bowl", "object_name": "objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue futuristic collectible card and place it in or on the round dark stone bowl with rim", "object_name": "objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5435", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale off-white stone arrowhead and place it in or on the rusty metal tray with meat", "object_name": "objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5479", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black smartphone with cameras and place it in or on the round terracotta clay serving dish", "object_name": "objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the rustic stone bowl with bird spout", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_03/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..1ae98904b1a209eb39f57a5bd11943f2e87d1960 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/eval.log @@ -0,0 +1,1449 @@ +[2026-05-26 01:03:53,329] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,437] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,471] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 01:03:56,384] 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' +[2026-05-26 01:04:09,361] 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() +[2026-05-26 01:04:36,985] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:36,989] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:40,882] 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 +[2026-05-26 01:04:40,909] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,001] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 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/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + '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': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,017] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 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'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 0/35) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +2026-05-26 01:06:10.308 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:45,280] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,274] 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. +[2026-05-26 01:08:50,484] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:03,882] 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 +[2026-05-26 01:09:03,887] 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 +[05/26 01:09:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/26 01:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/26 01:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:19 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 +[05/26 01:13:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) +[05/26 01:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/26 01:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 0/1 successful episodes +[05/26 01:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3970 (index 1/35) +[05/26 01:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False +[05/26 01:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:37:28 Worker 0 ERROR pipeline.py:1164] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 820, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/policy/base_policy.py", line 112, in get_action + model_input = self.obs_to_model_input(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 413, in obs_to_model_input + text_context = self._load_text_context(task_description) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 565, in _load_text_context + embedding_path = ensure_wan_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 89, in ensure_wan_prompt_embedding + return _wait_for_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 390, in _wait_for_prompt_embedding + raise TimeoutError(f"Timed out waiting for prompt embedding cache: {searched}") +TimeoutError: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +[05/26 01:37:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3970: 1 episodes +[05/26 01:37:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 +[05/26 01:37:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:37:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3970 +[05/26 01:37:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3970: 0/1 successful episodes +[05/26 01:37:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 2/35) +[05/26 01:37:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +[2026-05-26 01:40:08,275] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:41:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 01:44:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/26 01:44:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 3/35) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:44:39 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'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 01:55:02,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False +[05/26 01:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/26 01:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:58:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:58:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 +[05/26 01:58:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) +[05/26 01:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/26 01:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/26 01:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 4/35) +[05/26 01:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:58:29 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'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:00:26,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/26 02:06:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/26 02:06:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:37 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 +[05/26 02:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) +[05/26 02:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/26 02:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/26 02:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4156 (index 5/35) +[05/26 02:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:07:11 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[2026-05-26 02:09:17,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False +[05/26 02:14:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4156: 1 episodes +[05/26 02:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 +[05/26 02:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) +[05/26 02:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4156 +[05/26 02:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4156: 0/1 successful episodes +[05/26 02:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4236 (index 6/35) +[05/26 02:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 02:16:41,297] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:20:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False +[05/26 02:20:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4236: 1 episodes +[05/26 02:20:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 +[05/26 02:20:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) +[05/26 02:20:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4236 +[05/26 02:20:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4236: 0/1 successful episodes +[05/26 02:20:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 7/35) +[05/26 02:20:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:20:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 02:22:30,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False +[05/26 02:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/26 02:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:28:55 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 +[05/26 02:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) +[05/26 02:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/26 02:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/26 02:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4357 (index 8/35) +[05/26 02:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:31:13,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False +[05/26 02:36:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4357: 1 episodes +[05/26 02:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:45 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 +[05/26 02:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) +[05/26 02:36:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4357 +[05/26 02:36:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4357: 0/1 successful episodes +[05/26 02:36:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4375 (index 9/35) +[05/26 02:36:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:36:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:38:53,529] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False +[05/26 02:45:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:48:03,811] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False +[05/26 02:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4375: 2 episodes +[05/26 02:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) +[05/26 02:54:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4375: 0/2 successful episodes +[05/26 02:54:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4384 (index 10/35) +[05/26 02:54:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:54:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 02:57:04,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:58:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False +[05/26 03:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4384: 1 episodes +[05/26 03:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 +[05/26 03:07:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) +[05/26 03:07:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4384 +[05/26 03:07:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4384: 0/1 successful episodes +[05/26 03:07:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4429 (index 11/35) +[05/26 03:07:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:07:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 03:10:00,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:14:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False +[05/26 03:15:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4429: 1 episodes +[05/26 03:15:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:07 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) +[05/26 03:15:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4429: 0/1 successful episodes +[05/26 03:15:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 12/35) +[05/26 03:15:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:15:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +[2026-05-26 03:17:03,819] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:22:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False +[05/26 03:22:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/26 03:22:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:22:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:45 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 +[05/26 03:22:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) +[05/26 03:22:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/26 03:22:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/26 03:22:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4550 (index 13/35) +[05/26 03:22:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:22:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +[2026-05-26 03:24:01,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False +[05/26 03:30:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4550: 1 episodes +[05/26 03:30:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 +[05/26 03:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 03:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4550 +[05/26 03:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4550: 0/1 successful episodes +[05/26 03:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4618 (index 14/35) +[05/26 03:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene +[2026-05-26 03:33:00,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False +[05/26 03:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4618: 1 episodes +[05/26 03:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:21 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) +[05/26 03:40:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4618: 0/1 successful episodes +[05/26 03:40:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4668 (index 15/35) +[05/26 03:40:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:40:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +[2026-05-26 03:42:39,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False +[05/26 03:46:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4668: 1 episodes +[05/26 03:46:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:29 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) +[05/26 03:46:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4668: 0/1 successful episodes +[05/26 03:46:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4710 (index 16/35) +[05/26 03:46:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:46:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +[2026-05-26 03:48:35,015] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/26 04:05:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4710: 1 episodes +[05/26 04:05:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:05:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:05:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 +[05/26 04:05:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 04:05:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4710 +[05/26 04:05:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4710: 0/1 successful episodes +[05/26 04:05:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4747 (index 17/35) +[05/26 04:05:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:05:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 04:07:16,892] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:07:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:12:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/26 04:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4747: 1 episodes +[05/26 04:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:12:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) +[05/26 04:12:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4747: 0/1 successful episodes +[05/26 04:12:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4786 (index 18/35) +[05/26 04:12:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:12:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene +[2026-05-26 04:14:38,118] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False +[05/26 04:21:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4786: 1 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:49 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 +[05/26 04:21:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) +[05/26 04:21:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4786 +[05/26 04:21:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4786: 0/1 successful episodes +[05/26 04:21:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4788 (index 19/35) +[05/26 04:21:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:21:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:23:12,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:23:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False +[05/26 04:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:29:37,630] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:34:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False +[05/26 04:34:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4788: 2 episodes +[05/26 04:34:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 +[05/26 04:34:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) +[05/26 04:34:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4788 +[05/26 04:34:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4788: 0/2 successful episodes +[05/26 04:34:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4815 (index 20/35) +[05/26 04:34:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:34:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 04:35:53,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:38:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False +[05/26 04:38:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4815: 1 episodes +[05/26 04:38:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:50 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) +[05/26 04:38:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4815: 0/1 successful episodes +[05/26 04:38:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4871 (index 21/35) +[05/26 04:38:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:38:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene +[2026-05-26 04:40:06,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False +[05/26 04:45:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4871: 1 episodes +[05/26 04:45:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:45:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:45:44 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 +[05/26 04:45:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) +[05/26 04:45:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4871 +[05/26 04:45:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4871: 0/1 successful episodes +[05/26 04:45:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4953 (index 22/35) +[05/26 04:45:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:45:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene +[2026-05-26 04:47:17,028] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False +[05/26 04:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4953: 1 episodes +[05/26 04:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:51:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:51:06 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 +[05/26 04:51:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:51:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4953 +[05/26 04:51:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4953: 0/1 successful episodes +[05/26 04:51:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5002 (index 23/35) +[05/26 04:51:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:51:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 04:53:07,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False +[05/26 04:56:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5002: 1 episodes +[05/26 04:56:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:57:02 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 +[05/26 04:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) +[05/26 04:57:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5002 +[05/26 04:57:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5002: 0/1 successful episodes +[05/26 04:57:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5057 (index 24/35) +[05/26 04:57:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:57:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:59:19,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:02:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True +[05/26 05:02:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5057: 1 episodes +[05/26 05:02:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 205 timesteps +[05/26 05:02:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 05:02:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5057: 1/1 successful episodes +[05/26 05:02:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5132 (index 25/35) +[05/26 05:02:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:02:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 05:02:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:04:22,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False +[05/26 05:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5132: 1 episodes +[05/26 05:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:09:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 +[05/26 05:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) +[05/26 05:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5132 +[05/26 05:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5132: 0/1 successful episodes +[05/26 05:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5142 (index 26/35) +[05/26 05:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:12:13,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:20:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False +[05/26 05:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:22:06,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False +[05/26 05:29:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5142: 2 episodes +[05/26 05:29:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 +[05/26 05:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) +[05/26 05:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5142 +[05/26 05:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5142: 0/2 successful episodes +[05/26 05:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5174 (index 27/35) +[05/26 05:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 05:32:07,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False +[05/26 05:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5174: 1 episodes +[05/26 05:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:55 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 +[05/26 05:37:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) +[05/26 05:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5174 +[05/26 05:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5174: 0/1 successful episodes +[05/26 05:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5237 (index 28/35) +[05/26 05:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/68 [00:00 does not support tracking retries. +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene +[2026-05-26 05:39:24,595] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False +[05/26 05:46:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5237: 1 episodes +[05/26 05:46:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:47:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:47:00 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 +[05/26 05:47:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) +[05/26 05:47:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5237 +[05/26 05:47:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5237: 0/1 successful episodes +[05/26 05:47:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5314 (index 29/35) +[05/26 05:47:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:47:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[2026-05-26 05:49:11,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False +[05/26 05:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5314: 1 episodes +[05/26 05:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:56:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:56:31 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) +[05/26 05:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5314: 0/1 successful episodes +[05/26 05:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 30/35) +[05/26 05:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 05:58:06,276] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5435 (index 31/35) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 06:03:32,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False +[05/26 06:12:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5435: 1 episodes +[05/26 06:12:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 +[05/26 06:12:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) +[05/26 06:12:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5435 +[05/26 06:12:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5435: 0/1 successful episodes +[05/26 06:12:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5479 (index 32/35) +[05/26 06:12:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:12:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 06:14:54,148] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:20:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False +[05/26 06:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5479: 1 episodes +[05/26 06:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) +[05/26 06:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5479: 0/1 successful episodes +[05/26 06:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 33/35) +[05/26 06:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[2026-05-26 06:23:22,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False +[05/26 06:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/26 06:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:16 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 +[05/26 06:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) +[05/26 06:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/26 06:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/26 06:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 34/35) +[05/26 06:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 06:29:10,026] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:29:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False +[05/26 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/26 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 +[05/26 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/26 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/26 06:33:15 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:33:15 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:33:15 INFO pipeline.py:1499] Success count: 1, Total count: 38 +[05/26 06:33:15 INFO pipeline.py:1500] Success rate: 2.63% +Combined 38 episodes from 35 files → /tmp/tmpkk88wi58.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv at-end: 2.63% | oracle: 2.63% of 38 episodes +[2026-05-26 06:33:19,665] INFO MolmoSpaces simulator eval finished: success=1/38 rate=0.0263 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +[2026-05-26 06:33:19,665] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_03/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..462f2bdfc24a6837a3d1ec23950356636e30f4c5 --- /dev/null +++ b/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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 --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2cefa0c294d8bf54ff694dd364532601fc8a1c12 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv @@ -0,0 +1,43 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +# 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,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.506418,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.835765,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.243128,0.0 +latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.95415,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.63335,0.0 +latest,Objaceramiccup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.833316,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.460308,0.0 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.880652,0.0 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.739796,0.0 +latest,Objadecorativeornament,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.575567,0.0 +latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.230129,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.448199,0.0 +latest,Objadecorativesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.689752,0.0 +latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.799866,0.0 +latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.12432,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.472283,0.0 +latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.990171,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.948869,0.0 +latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.870326,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.648987,0.0 +latest,Objalemon,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.585946,0.0 +latest,Objalighter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.308307,0.0 +latest,Objamechanicalclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.534834,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,86.973413,0.0 +latest,Objanoveltyitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.476247,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.078839,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.758214,0.0 +latest,Objaservicebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.893245,0.0 +latest,Objashoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.831258,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.113837,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.793194,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.997465,0.0 +latest,Objatoywand,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,63.282196,0.0 +latest,Objatube,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,11.104052,0.066845 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.171511,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.935033,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.896257,0.0 +latest,OVERALL,1,38,2.63,0.63,13.48,1,2.63,0.63,13.48,40.782191,32.084464 diff --git a/pnp_v2/pnp_v2/shards/shard_03/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_03/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0428529870c2907b6adf6d6983b90065a7bc65e3 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/eval/summary.json @@ -0,0 +1,123 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.02631578947368421, + "success_count": 1.0, + "total_episodes": 38.0, + "avg_episode_length": 442.5263157894737, + "oracle_done_rate": 0.02631578947368421, + "success_rate_pct": 2.63, + "oracle_rate_pct": 2.63 + }, + "stats": { + "total_episodes": 38, + "success_count": 1, + "failure_count": 37, + "success_rate": 0.02631578947368421, + "avg_episode_length": 442.5263157894737, + "min_episode_length": 203, + "max_episode_length": 449, + "num_houses": 35, + "house_success_rates": { + "house_3956": 0.0, + 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"joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 1, + "total": 38, + "success_rate_pct": 2.63, + "ci_95_low_pct": 0.63, + "ci_95_high_pct": 13.48, + "oracle_successes": 1, + "oracle_rate_pct": 2.63, + "oracle_ci_95_low_pct": 0.63, + "oracle_ci_95_high_pct": 13.48, + "jerk_joint_mean": 40.782191, + "jerk_joint_std": 32.084464 + }, + "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/pnp_v2/pnp_v2/shards/shard_03/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_03/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5c016b073d481371e236afb308379a24813282c --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/episode_results.jsonl @@ -0,0 +1,38 @@ +{"house_id": "house_3956", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with slots and place it in or on the rectangular platform with broad recessed center", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3970", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light beige hand and place it in or on the glossy dish", "object_name": "objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the square ashtray", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": 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+{"house_id": "house_4236", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular digital watch metallic and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4292", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white cylindrical lattice patterned ring and place it in or on the red and black chicken food container", "object_name": "objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8", "data_file_path": 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"episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green handheld barcode scanner and place it in or on the metallic tray", "object_name": "objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spring and place it in or on the round wooden bowl", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": 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"episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic floral sugar bowl with handles and place it in or on the green bowl", "object_name": "objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4815", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal mechanical clamp with cable arms and place it in or on the rectangular metallic tray", "object_name": "objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the rustic bowl", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4953", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool and place it in or on the shallow wide terracotta bowl", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5002", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the servicebell and place it in or on the rustic round clay dish with handles", "object_name": "objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5057", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 203, "task_description": "Pick up the purple and yellow wand and place it in or on the blue cooking pot with handles", "object_name": "objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handled tool and place it in or on the glossy ceramic bowl", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red beaded ornament and place it in or on the green rectangular box with snowflakes", "object_name": "objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white green biofreeze pain relief tube and place it in or on the colorful pixelated ramen bowl", "object_name": "objatube_747652d3308142278b333f1e2ee13549_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pulp-free orange juice carton and place it in or on the brown wooden leaf tray", "object_name": "objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow corn cob with green husk and place it in or on the round metallic bowl with patina", "object_name": "objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic yellow lemon with sticker and place it in or on the jade green patterned bowl", "object_name": "objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue futuristic collectible card and place it in or on the round dark stone bowl with rim", "object_name": "objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5435", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale off-white stone arrowhead and place it in or on the rusty metal tray with meat", "object_name": "objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5479", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black smartphone with cameras and place it in or on the round terracotta clay serving dish", "object_name": "objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the rustic stone bowl with bird spout", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_03/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..1ae98904b1a209eb39f57a5bd11943f2e87d1960 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/eval.log @@ -0,0 +1,1449 @@ +[2026-05-26 01:03:53,329] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,437] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,471] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 01:03:56,384] 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' +[2026-05-26 01:04:09,361] 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() +[2026-05-26 01:04:36,985] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:36,989] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:40,882] 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 +[2026-05-26 01:04:40,909] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,001] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 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/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + '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': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,017] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 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'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 0/35) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +2026-05-26 01:06:10.308 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:45,280] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,274] 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. +[2026-05-26 01:08:50,484] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:03,882] 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 +[2026-05-26 01:09:03,887] 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 +[05/26 01:09:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/26 01:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/26 01:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:19 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 +[05/26 01:13:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) +[05/26 01:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/26 01:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 0/1 successful episodes +[05/26 01:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3970 (index 1/35) +[05/26 01:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False +[05/26 01:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:37:28 Worker 0 ERROR pipeline.py:1164] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 820, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/policy/base_policy.py", line 112, in get_action + model_input = self.obs_to_model_input(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 413, in obs_to_model_input + text_context = self._load_text_context(task_description) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 565, in _load_text_context + embedding_path = ensure_wan_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 89, in ensure_wan_prompt_embedding + return _wait_for_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 390, in _wait_for_prompt_embedding + raise TimeoutError(f"Timed out waiting for prompt embedding cache: {searched}") +TimeoutError: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +[05/26 01:37:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3970: 1 episodes +[05/26 01:37:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 +[05/26 01:37:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:37:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3970 +[05/26 01:37:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3970: 0/1 successful episodes +[05/26 01:37:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 2/35) +[05/26 01:37:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +[2026-05-26 01:40:08,275] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:41:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 01:44:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/26 01:44:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:39 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 3/35) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:44:39 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'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 01:55:02,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False +[05/26 01:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/26 01:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:58:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:58:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 +[05/26 01:58:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) +[05/26 01:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/26 01:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/26 01:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 4/35) +[05/26 01:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:58:29 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'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:00:26,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/26 02:06:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/26 02:06:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:37 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 +[05/26 02:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) +[05/26 02:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/26 02:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/26 02:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4156 (index 5/35) +[05/26 02:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:07:11 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[2026-05-26 02:09:17,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False +[05/26 02:14:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4156: 1 episodes +[05/26 02:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 +[05/26 02:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) +[05/26 02:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4156 +[05/26 02:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4156: 0/1 successful episodes +[05/26 02:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4236 (index 6/35) +[05/26 02:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 02:16:41,297] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:20:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False +[05/26 02:20:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4236: 1 episodes +[05/26 02:20:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 +[05/26 02:20:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) +[05/26 02:20:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4236 +[05/26 02:20:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4236: 0/1 successful episodes +[05/26 02:20:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 7/35) +[05/26 02:20:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:20:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 02:22:30,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False +[05/26 02:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/26 02:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:28:55 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 +[05/26 02:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) +[05/26 02:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/26 02:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/26 02:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4357 (index 8/35) +[05/26 02:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:31:13,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False +[05/26 02:36:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4357: 1 episodes +[05/26 02:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:45 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 +[05/26 02:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) +[05/26 02:36:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4357 +[05/26 02:36:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4357: 0/1 successful episodes +[05/26 02:36:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4375 (index 9/35) +[05/26 02:36:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:36:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:38:53,529] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False +[05/26 02:45:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:48:03,811] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False +[05/26 02:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4375: 2 episodes +[05/26 02:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) +[05/26 02:54:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4375: 0/2 successful episodes +[05/26 02:54:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4384 (index 10/35) +[05/26 02:54:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:54:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 02:57:04,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:58:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False +[05/26 03:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4384: 1 episodes +[05/26 03:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:28 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 +[05/26 03:07:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) +[05/26 03:07:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4384 +[05/26 03:07:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4384: 0/1 successful episodes +[05/26 03:07:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4429 (index 11/35) +[05/26 03:07:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:07:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 03:10:00,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:14:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False +[05/26 03:15:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4429: 1 episodes +[05/26 03:15:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:07 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) +[05/26 03:15:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4429: 0/1 successful episodes +[05/26 03:15:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 12/35) +[05/26 03:15:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:15:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +[2026-05-26 03:17:03,819] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:22:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False +[05/26 03:22:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/26 03:22:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:22:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:45 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 +[05/26 03:22:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) +[05/26 03:22:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/26 03:22:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/26 03:22:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4550 (index 13/35) +[05/26 03:22:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:22:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +[2026-05-26 03:24:01,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False +[05/26 03:30:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4550: 1 episodes +[05/26 03:30:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 +[05/26 03:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 03:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4550 +[05/26 03:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4550: 0/1 successful episodes +[05/26 03:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4618 (index 14/35) +[05/26 03:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene +[2026-05-26 03:33:00,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False +[05/26 03:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4618: 1 episodes +[05/26 03:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:21 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) +[05/26 03:40:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4618: 0/1 successful episodes +[05/26 03:40:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4668 (index 15/35) +[05/26 03:40:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:40:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +[2026-05-26 03:42:39,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False +[05/26 03:46:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4668: 1 episodes +[05/26 03:46:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:29 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) +[05/26 03:46:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4668: 0/1 successful episodes +[05/26 03:46:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4710 (index 16/35) +[05/26 03:46:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:46:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +[2026-05-26 03:48:35,015] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/26 04:05:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4710: 1 episodes +[05/26 04:05:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:05:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:05:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 +[05/26 04:05:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 04:05:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4710 +[05/26 04:05:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4710: 0/1 successful episodes +[05/26 04:05:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4747 (index 17/35) +[05/26 04:05:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:05:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 04:07:16,892] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:07:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:12:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/26 04:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4747: 1 episodes +[05/26 04:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:12:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) +[05/26 04:12:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4747: 0/1 successful episodes +[05/26 04:12:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4786 (index 18/35) +[05/26 04:12:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:12:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene +[2026-05-26 04:14:38,118] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False +[05/26 04:21:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4786: 1 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:49 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 +[05/26 04:21:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) +[05/26 04:21:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4786 +[05/26 04:21:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4786: 0/1 successful episodes +[05/26 04:21:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4788 (index 19/35) +[05/26 04:21:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:21:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:23:12,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:23:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False +[05/26 04:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:29:37,630] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:34:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False +[05/26 04:34:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4788: 2 episodes +[05/26 04:34:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 +[05/26 04:34:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) +[05/26 04:34:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4788 +[05/26 04:34:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4788: 0/2 successful episodes +[05/26 04:34:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4815 (index 20/35) +[05/26 04:34:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:34:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 04:35:53,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:38:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False +[05/26 04:38:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4815: 1 episodes +[05/26 04:38:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:50 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) +[05/26 04:38:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4815: 0/1 successful episodes +[05/26 04:38:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4871 (index 21/35) +[05/26 04:38:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:38:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene +[2026-05-26 04:40:06,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False +[05/26 04:45:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4871: 1 episodes +[05/26 04:45:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:45:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:45:44 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 +[05/26 04:45:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) +[05/26 04:45:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4871 +[05/26 04:45:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4871: 0/1 successful episodes +[05/26 04:45:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4953 (index 22/35) +[05/26 04:45:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:45:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene +[2026-05-26 04:47:17,028] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False +[05/26 04:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4953: 1 episodes +[05/26 04:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:51:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:51:06 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 +[05/26 04:51:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:51:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4953 +[05/26 04:51:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4953: 0/1 successful episodes +[05/26 04:51:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5002 (index 23/35) +[05/26 04:51:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:51:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 04:53:07,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False +[05/26 04:56:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5002: 1 episodes +[05/26 04:56:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:57:02 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 +[05/26 04:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) +[05/26 04:57:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5002 +[05/26 04:57:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5002: 0/1 successful episodes +[05/26 04:57:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5057 (index 24/35) +[05/26 04:57:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:57:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:59:19,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:02:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True +[05/26 05:02:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5057: 1 episodes +[05/26 05:02:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 205 timesteps +[05/26 05:02:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 05:02:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5057: 1/1 successful episodes +[05/26 05:02:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5132 (index 25/35) +[05/26 05:02:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:02:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 05:02:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:04:22,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False +[05/26 05:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5132: 1 episodes +[05/26 05:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:09:17 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 +[05/26 05:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) +[05/26 05:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5132 +[05/26 05:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5132: 0/1 successful episodes +[05/26 05:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5142 (index 26/35) +[05/26 05:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:12:13,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:20:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False +[05/26 05:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:22:06,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False +[05/26 05:29:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5142: 2 episodes +[05/26 05:29:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 +[05/26 05:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) +[05/26 05:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5142 +[05/26 05:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5142: 0/2 successful episodes +[05/26 05:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5174 (index 27/35) +[05/26 05:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 05:32:07,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False +[05/26 05:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5174: 1 episodes +[05/26 05:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:55 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 +[05/26 05:37:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) +[05/26 05:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5174 +[05/26 05:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5174: 0/1 successful episodes +[05/26 05:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5237 (index 28/35) +[05/26 05:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/68 [00:00 does not support tracking retries. +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene +[2026-05-26 05:39:24,595] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False +[05/26 05:46:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5237: 1 episodes +[05/26 05:46:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:47:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:47:00 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 +[05/26 05:47:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) +[05/26 05:47:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5237 +[05/26 05:47:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5237: 0/1 successful episodes +[05/26 05:47:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5314 (index 29/35) +[05/26 05:47:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:47:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[2026-05-26 05:49:11,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False +[05/26 05:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5314: 1 episodes +[05/26 05:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:56:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:56:31 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) +[05/26 05:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5314: 0/1 successful episodes +[05/26 05:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 30/35) +[05/26 05:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 05:58:06,276] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5435 (index 31/35) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 06:03:32,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False +[05/26 06:12:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5435: 1 episodes +[05/26 06:12:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 +[05/26 06:12:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) +[05/26 06:12:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5435 +[05/26 06:12:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5435: 0/1 successful episodes +[05/26 06:12:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5479 (index 32/35) +[05/26 06:12:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:12:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 06:14:54,148] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:20:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False +[05/26 06:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5479: 1 episodes +[05/26 06:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) +[05/26 06:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5479: 0/1 successful episodes +[05/26 06:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 33/35) +[05/26 06:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[2026-05-26 06:23:22,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False +[05/26 06:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/26 06:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:16 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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 +[05/26 06:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) +[05/26 06:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/26 06:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/26 06:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 34/35) +[05/26 06:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 06:29:10,026] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:29:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False +[05/26 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/26 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 +[05/26 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/26 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/26 06:33:15 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:33:15 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:33:15 INFO pipeline.py:1499] Success count: 1, Total count: 38 +[05/26 06:33:15 INFO pipeline.py:1500] Success rate: 2.63% +Combined 38 episodes from 35 files → /tmp/tmpkk88wi58.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv at-end: 2.63% | oracle: 2.63% of 38 episodes +[2026-05-26 06:33:19,665] INFO MolmoSpaces simulator eval finished: success=1/38 rate=0.0263 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +[2026-05-26 06:33:19,665] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_03/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..462f2bdfc24a6837a3d1ec23950356636e30f4c5 --- /dev/null +++ b/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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 --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_03/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2cefa0c294d8bf54ff694dd364532601fc8a1c12 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/results.csv @@ -0,0 +1,43 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +# 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,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.506418,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.835765,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.243128,0.0 +latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.95415,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.63335,0.0 +latest,Objaceramiccup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.833316,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.460308,0.0 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.880652,0.0 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.739796,0.0 +latest,Objadecorativeornament,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.575567,0.0 +latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.230129,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.448199,0.0 +latest,Objadecorativesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.689752,0.0 +latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.799866,0.0 +latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.12432,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.472283,0.0 +latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.990171,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.948869,0.0 +latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.870326,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.648987,0.0 +latest,Objalemon,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.585946,0.0 +latest,Objalighter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.308307,0.0 +latest,Objamechanicalclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.534834,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,86.973413,0.0 +latest,Objanoveltyitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.476247,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.078839,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.758214,0.0 +latest,Objaservicebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.893245,0.0 +latest,Objashoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.831258,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.113837,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.793194,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.997465,0.0 +latest,Objatoywand,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,63.282196,0.0 +latest,Objatube,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,11.104052,0.066845 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.171511,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.935033,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.896257,0.0 +latest,OVERALL,1,38,2.63,0.63,13.48,1,2.63,0.63,13.48,40.782191,32.084464 diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_03/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..0cf32cf63edacd3dd9710ec6f646bf3d8fda349f --- /dev/null +++ b/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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 --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/shard_03_results.csv b/pnp_v2/pnp_v2/shards/shard_03/submission/shard_03_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..2cefa0c294d8bf54ff694dd364532601fc8a1c12 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/shard_03_results.csv @@ -0,0 +1,43 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +# 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,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.506418,0.0 +latest,Objaawl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.835765,0.0 +latest,Objabarcodescanner,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.243128,0.0 +latest,Objabeveragecarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.95415,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.63335,0.0 +latest,Objaceramiccup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.833316,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.460308,0.0 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.880652,0.0 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.739796,0.0 +latest,Objadecorativeornament,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.575567,0.0 +latest,Objadecorativering,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.230129,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.448199,0.0 +latest,Objadecorativesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.689752,0.0 +latest,Objadecorativetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.799866,0.0 +latest,Objadigitalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.12432,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.472283,0.0 +latest,Objagamingmouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.990171,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.948869,0.0 +latest,Objahandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.870326,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.648987,0.0 +latest,Objalemon,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,170.585946,0.0 +latest,Objalighter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.308307,0.0 +latest,Objamechanicalclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.534834,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,86.973413,0.0 +latest,Objanoveltyitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.476247,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.078839,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.758214,0.0 +latest,Objaservicebell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.893245,0.0 +latest,Objashoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.831258,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.113837,0.0 +latest,Objaspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,114.793194,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.997465,0.0 +latest,Objatoywand,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,63.282196,0.0 +latest,Objatube,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,11.104052,0.066845 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.171511,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.935033,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.896257,0.0 +latest,OVERALL,1,38,2.63,0.63,13.48,1,2.63,0.63,13.48,40.782191,32.084464 diff --git a/pnp_v2/pnp_v2/shards/shard_03/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_03/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9dfd7e485a8ce9b6c38d731acb65e5fe889e0103 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/submission_manifest.json @@ -0,0 +1,81 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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": 0.02631578947368421, + "success_count": 1.0, + "total_episodes": 38.0, + "avg_episode_length": 442.5263157894737, + "oracle_done_rate": 0.02631578947368421, + "success_rate_pct": 2.63, + "oracle_rate_pct": 2.63 + }, + "stats": { + "total_episodes": 38, + "success_count": 1, + "failure_count": 37, + "success_rate": 0.02631578947368421, + "avg_episode_length": 442.5263157894737, + "min_episode_length": 203, + "max_episode_length": 449, + "num_houses": 35, + "house_success_rates": { + "house_3956": 0.0, + "house_3970": 0.0, + "house_3993": 0.0, + "house_4030": 0.0, + "house_4086": 0.0, + "house_4156": 0.0, + "house_4236": 0.0, + "house_4292": 0.0, + "house_4357": 0.0, + "house_4375": 0.0, + "house_4384": 0.0, + "house_4429": 0.0, + "house_4502": 0.0, + "house_4550": 0.0, + "house_4618": 0.0, + "house_4668": 0.0, + "house_4710": 0.0, + "house_4747": 0.0, + "house_4786": 0.0, + "house_4788": 0.0, + "house_4815": 0.0, + "house_4871": 0.0, + "house_4953": 0.0, + "house_5002": 0.0, + "house_5057": 1.0, + "house_5132": 0.0, + "house_5142": 0.0, + "house_5174": 0.0, + "house_5237": 0.0, + "house_5314": 0.0, + "house_5387": 0.0, + "house_5435": 0.0, + "house_5479": 0.0, + "house_5508": 0.0, + "house_5543": 0.0 + }, + "oracle_done_count": 1, + "oracle_done_rate": 0.02631578947368421, + "avg_successful_episode_length": 203.0 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_03/submission/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..0428529870c2907b6adf6d6983b90065a7bc65e3 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/submission/summary.json @@ -0,0 +1,123 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/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/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.02631578947368421, + "success_count": 1.0, + "total_episodes": 38.0, + "avg_episode_length": 442.5263157894737, + "oracle_done_rate": 0.02631578947368421, + "success_rate_pct": 2.63, + "oracle_rate_pct": 2.63 + }, + "stats": { + "total_episodes": 38, + "success_count": 1, + "failure_count": 37, + "success_rate": 0.02631578947368421, + "avg_episode_length": 442.5263157894737, + "min_episode_length": 203, + "max_episode_length": 449, + "num_houses": 35, + "house_success_rates": { + "house_3956": 0.0, + "house_3970": 0.0, + "house_3993": 0.0, + "house_4030": 0.0, + "house_4086": 0.0, + "house_4156": 0.0, + "house_4236": 0.0, + "house_4292": 0.0, + "house_4357": 0.0, + "house_4375": 0.0, + "house_4384": 0.0, + "house_4429": 0.0, + "house_4502": 0.0, + "house_4550": 0.0, + "house_4618": 0.0, + "house_4668": 0.0, + "house_4710": 0.0, + "house_4747": 0.0, + "house_4786": 0.0, + "house_4788": 0.0, + "house_4815": 0.0, + "house_4871": 0.0, + "house_4953": 0.0, + "house_5002": 0.0, + "house_5057": 1.0, + "house_5132": 0.0, + "house_5142": 0.0, + "house_5174": 0.0, + "house_5237": 0.0, + "house_5314": 0.0, + "house_5387": 0.0, + "house_5435": 0.0, + "house_5479": 0.0, + "house_5508": 0.0, + "house_5543": 0.0 + }, + "oracle_done_count": 1, + "oracle_done_rate": 0.02631578947368421, + "avg_successful_episode_length": 203.0 + }, + "success_count": 1, + "total_count": 38, + "success_rate": 0.02631578947368421, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 1, + "total": 38, + "success_rate_pct": 2.63, + "ci_95_low_pct": 0.63, + "ci_95_high_pct": 13.48, + "oracle_successes": 1, + "oracle_rate_pct": 2.63, + "oracle_ci_95_low_pct": 0.63, + "oracle_ci_95_high_pct": 13.48, + "jerk_joint_mean": 40.782191, + "jerk_joint_std": 32.084464 + }, + "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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..3eb97342377e0f55bcfcef9324054f7dca1f9d53 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log @@ -0,0 +1,2620 @@ +05/25 10:25:33 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/25 10:25:33 INFO: Starting house-by-house rollout of 112 houses with 2 episodes each (224 total episodes) using 1 worker processes [pipeline.py: 1279] +05/25 10:25:33 INFO: Evaluation configuration: [pipeline.py: 1286] +05/25 10:25:33 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533'), + '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': [30, + 142, + 222, + 254, + 277, + 317, + 369, + 434, + 485, + 509, + 543, + 1049, + 1079, + 1093, + 1134, + 1193, + 1254, + 1268, + 1336, + 1400, + 1475, + 1532, + 1579, + 1612, + 1615, + 1663, + 1700, + 1751, + 1803, + 1852, + 1882, + 1960, + 1993, + 2021, + 2069, + 2123, + 2157, + 2188, + 2228, + 2268, + 2315, + 2358, + 2385, + 2442, + 2469, + 2502, + 2523, + 2575, + 2621, + 2666, + 2740, + 2779, + 2830, + 2844, + 2883, + 2962, + 3052, + 3109, + 3130, + 3139, + 3240, + 3282, + 3315, + 3347, + 3389, + 3442, + 3485, + 3523, + 3554, + 3606, + 3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/25 10:25:33 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:33 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/25 10:25:33 INFO: [Worker 0] Worker 0 starting house 30 (index 0/112) [pipeline.py: 473] +05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 30 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/25 10:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 10:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/25 10:25:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/25 10:25:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_30_ceiling.xml [task_sampler.py: 797] +05/25 10:25:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:25:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:25:48 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 10:25:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:25:48 INFO: [Worker 0] Sampled task 'Pick up the dark metallic vintage opera binoculars and place it in or on the metal tray glossy' [task_sampler.py: 1136] +05/25 10:25:48 INFO: [Worker 0] Worker 0 house 30 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:25:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:30:20 INFO: [Worker 0] Worker 0 house 30 episode 0 object objaoperaglasses_637596372c664172915f87d42c73b3f6_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 10:30:25 INFO: [Worker 0] Batching and saving trajectory data for house_30: 1 episodes [pipeline.py: 233] +05/25 10:30:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:30:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:30:29 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_30 [save_utils.py: 703] +05/25 10:30:29 INFO: [Worker 0] Successfully saved trajectory data for house_30 in 4.29s (batch: 4.10s, save: 0.20s) [pipeline.py: 280] +05/25 10:30:31 WARNING: [Worker 0] No trajectory data to save for house_30 [pipeline.py: 229] +05/25 10:30:31 INFO: [Worker 0] Worker 0 completed house 30: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:30:31 INFO: [Worker 0] Worker 0 starting house 142 (index 1/112) [pipeline.py: 473] +05/25 10:30:31 INFO: [Worker 0] Loaded 1 episodes for house 142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 10:30:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 10:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc [json_eval_task_sampler.py: 648] +05/25 10:30:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 10:30:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_142_ceiling.xml [task_sampler.py: 797] +05/25 10:30:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:30:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:30:38 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 10:30:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:30:38 INFO: [Worker 0] Sampled task 'Pick up the dark metal container with label and place it in or on the round bowl with feet' [task_sampler.py: 1136] +05/25 10:30:38 INFO: [Worker 0] Worker 0 house 142 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:30:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:30:40 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene [object_manager.py: 1238] +05/25 10:30:40 WARNING: [Worker 0] Could not find object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 in scene [object_manager.py: 1238] +05/25 10:30:40 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_6 in scene [object_manager.py: 1238] +05/25 10:30:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:40:05 INFO: [Worker 0] Worker 0 house 142 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 10:40:10 INFO: [Worker 0] Batching and saving trajectory data for house_142: 1 episodes [pipeline.py: 233] +05/25 10:40:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:40:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:40:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_142 [save_utils.py: 703] +05/25 10:40:13 INFO: [Worker 0] Successfully saved trajectory data for house_142 in 3.75s (batch: 3.57s, save: 0.18s) [pipeline.py: 280] +05/25 10:40:14 WARNING: [Worker 0] No trajectory data to save for house_142 [pipeline.py: 229] +05/25 10:40:14 INFO: [Worker 0] Worker 0 completed house 142: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:40:14 INFO: [Worker 0] Worker 0 starting house 222 (index 2/112) [pipeline.py: 473] +05/25 10:40:14 INFO: [Worker 0] Loaded 1 episodes for house 222 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 10:40:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:40:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/25 10:40:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/25 10:40:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/25 10:40:16 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 10:40:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_222_ceiling.xml [task_sampler.py: 797] +05/25 10:40:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=222, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:40:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:40:21 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 10:40:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:40:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:40:21 INFO: [Worker 0] Sampled task 'Pick up the classic brown leather dress shoe and place it in or on the patchwork ceramic bowl rustic' [task_sampler.py: 1136] +05/25 10:40:21 INFO: [Worker 0] Worker 0 house 222 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:40:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:40:22 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/25 10:40:22 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/25 10:40:22 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene [object_manager.py: 1238] +05/25 10:49:31 INFO: [Worker 0] Worker 0 house 222 episode 0 object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 10:49:36 INFO: [Worker 0] Batching and saving trajectory data for house_222: 1 episodes [pipeline.py: 233] +05/25 10:49:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:49:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:49:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_222 [save_utils.py: 703] +05/25 10:49:40 INFO: [Worker 0] Successfully saved trajectory data for house_222 in 4.22s (batch: 3.98s, save: 0.25s) [pipeline.py: 280] +05/25 10:49:41 WARNING: [Worker 0] No trajectory data to save for house_222 [pipeline.py: 229] +05/25 10:49:41 INFO: [Worker 0] Worker 0 completed house 222: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:49:41 INFO: [Worker 0] Worker 0 starting house 254 (index 3/112) [pipeline.py: 473] +05/25 10:49:41 INFO: [Worker 0] Loaded 2 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 10:49:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:49:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 10:49:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/25 10:49:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/25 10:49:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_254_ceiling.xml [task_sampler.py: 797] +05/25 10:49:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=254, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:49:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:49:51 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 10:49:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:49:51 INFO: [Worker 0] Sampled task 'Pick up the black remote and place it in or on the rustic clay bowl with two handles' [task_sampler.py: 1136] +05/25 10:49:51 INFO: [Worker 0] Worker 0 house 254 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 10:49:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:49:51 WARNING: [Worker 0] Could not find object objaartifact_9525cde4b189451289432e3f98ffc90d_1_0_7 in scene [object_manager.py: 1238] +05/25 10:49:51 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_7 in scene [object_manager.py: 1238] +05/25 10:49:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:55:40 INFO: [Worker 0] Worker 0 house 254 episode 0 object objaremotecontrol_7d31dde76e484a2b89a6f41927276e2a_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 10:55:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:55:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 10:55:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/25 10:55:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/25 10:55:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_254_ceiling.xml [task_sampler.py: 797] +05/25 10:55:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=254, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:55:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:55:54 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 10:55:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:55:55 INFO: [Worker 0] Sampled task 'Pick up the long weathered metal spike and place it in or on the matte dark gray bowl' [task_sampler.py: 1136] +05/25 10:55:55 INFO: [Worker 0] Worker 0 house 254 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 10:55:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:55:55 WARNING: [Worker 0] Could not find object objaartifact_9525cde4b189451289432e3f98ffc90d_1_0_7 in scene [object_manager.py: 1238] +05/25 10:55:55 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_7 in scene [object_manager.py: 1238] +05/25 10:55:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:01:27 INFO: [Worker 0] Worker 0 house 254 episode 1 object objametalspike_7dc051e1c13e45538dd30c1caf9db94e_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:01:32 INFO: [Worker 0] Batching and saving trajectory data for house_254: 2 episodes [pipeline.py: 233] +05/25 11:01:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:01:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:01:40 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_254 [save_utils.py: 703] +05/25 11:01:40 INFO: [Worker 0] Successfully saved trajectory data for house_254 in 7.84s (batch: 7.57s, save: 0.28s) [pipeline.py: 280] +05/25 11:01:41 WARNING: [Worker 0] No trajectory data to save for house_254 [pipeline.py: 229] +05/25 11:01:41 INFO: [Worker 0] Worker 0 completed house 254: 0/2 successful episodes [pipeline.py: 1243] +05/25 11:01:41 INFO: [Worker 0] Worker 0 starting house 277 (index 4/112) [pipeline.py: 473] +05/25 11:01:41 INFO: [Worker 0] Loaded 1 episodes for house 277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:01:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:01:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 11:01:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 11:01:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/25 11:01:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_277_ceiling.xml [task_sampler.py: 797] +05/25 11:01:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=277, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:01:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:01:44 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/25 11:01:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:01:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:01:44 INFO: [Worker 0] Sampled task 'Pick up the rectangular beige tag with embossed text and place it in or on the white bowl with textured facets' [task_sampler.py: 1136] +05/25 11:01:44 INFO: [Worker 0] Worker 0 house 277 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:01:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:01:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:04:12 INFO: [Worker 0] Worker 0 house 277 episode 0 object objatag_aba82ca8446a45c698c0f578ae69e1db_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 11:04:18 INFO: [Worker 0] Batching and saving trajectory data for house_277: 1 episodes [pipeline.py: 233] +05/25 11:04:18 INFO: [Worker 0] Preparing episode data: 209 timesteps [save_utils.py: 284] +05/25 11:04:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:04:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_277 [save_utils.py: 703] +05/25 11:04:22 INFO: [Worker 0] Successfully saved trajectory data for house_277 in 3.48s (batch: 3.39s, save: 0.09s) [pipeline.py: 280] +05/25 11:04:22 WARNING: [Worker 0] No trajectory data to save for house_277 [pipeline.py: 229] +05/25 11:04:22 INFO: [Worker 0] Worker 0 completed house 277: 1/1 successful episodes [pipeline.py: 1243] +05/25 11:04:22 INFO: [Worker 0] Worker 0 starting house 317 (index 5/112) [pipeline.py: 473] +05/25 11:04:22 INFO: [Worker 0] Loaded 1 episodes for house 317 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:04:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029 [json_eval_task_sampler.py: 648] +05/25 11:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/25 11:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 11:04:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_317_ceiling.xml [task_sampler.py: 797] +05/25 11:04:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=317, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:04:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:04:29 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/25 11:04:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:04:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:04:29 INFO: [Worker 0] Sampled task 'Pick up the cheerful gingerbread cookie with purple buttons and place it in or on the rustic stone bowl' [task_sampler.py: 1136] +05/25 11:04:29 INFO: [Worker 0] Worker 0 house 317 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:04:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:04:31 WARNING: [Worker 0] Could not find object objaspoon_ff53847bd3ab44bf838945a0f6f6be2c_1_0_6 in scene [object_manager.py: 1238] +05/25 11:04:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:14:28 INFO: [Worker 0] Worker 0 house 317 episode 0 object objacookie_04d9fa2d22e446558a19ef3e1d63d6c3_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:14:33 INFO: [Worker 0] Batching and saving trajectory data for house_317: 1 episodes [pipeline.py: 233] +05/25 11:14:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:14:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:14:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_317 [save_utils.py: 703] +05/25 11:14:37 INFO: [Worker 0] Successfully saved trajectory data for house_317 in 3.71s (batch: 3.47s, save: 0.24s) [pipeline.py: 280] +05/25 11:14:38 WARNING: [Worker 0] No trajectory data to save for house_317 [pipeline.py: 229] +05/25 11:14:38 INFO: [Worker 0] Worker 0 completed house 317: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:14:38 INFO: [Worker 0] Worker 0 starting house 369 (index 6/112) [pipeline.py: 473] +05/25 11:14:38 INFO: [Worker 0] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:14:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:14:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b8cba8b5a69543ce9875c40028261490 [json_eval_task_sampler.py: 648] +05/25 11:14:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/25 11:14:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 11:14:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_369_ceiling.xml [task_sampler.py: 797] +05/25 11:14:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:14:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:14:48 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/25 11:14:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:14:49 INFO: [Worker 0] Sampled task 'Pick up the modeltraintrack and place it in or on the handmade ceramic bowl with glaze' [task_sampler.py: 1136] +05/25 11:14:49 INFO: [Worker 0] Worker 0 house 369 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:14:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:23:31 INFO: [Worker 0] Worker 0 house 369 episode 0 object objamodeltraintrack_823d9a0dfeea4d348bb75ecbe96b372a_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 11:23:35 INFO: [Worker 0] Batching and saving trajectory data for house_369: 1 episodes [pipeline.py: 233] +05/25 11:23:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:23:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:23:38 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_369 [save_utils.py: 703] +05/25 11:23:38 INFO: [Worker 0] Successfully saved trajectory data for house_369 in 3.42s (batch: 3.24s, save: 0.18s) [pipeline.py: 280] +05/25 11:23:39 WARNING: [Worker 0] No trajectory data to save for house_369 [pipeline.py: 229] +05/25 11:23:39 INFO: [Worker 0] Worker 0 completed house 369: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:23:39 INFO: [Worker 0] Worker 0 starting house 434 (index 7/112) [pipeline.py: 473] +05/25 11:23:39 INFO: [Worker 0] Loaded 1 episodes for house 434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:23:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:23:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_7 [json_eval_task_sampler.py: 648] +05/25 11:23:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 11:23:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5 [json_eval_task_sampler.py: 648] +05/25 11:23:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_434_ceiling.xml [task_sampler.py: 797] +05/25 11:23:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=434, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:23:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:23:44 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 11:23:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:23:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:23:44 INFO: [Worker 0] Sampled task 'Pick up the rectangular beige tag with embossed text and place it in or on the rustic bowl' [task_sampler.py: 1136] +05/25 11:23:44 INFO: [Worker 0] Worker 0 house 434 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:23:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:23:45 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene [object_manager.py: 1238] +05/25 11:23:45 WARNING: [Worker 0] Could not find object objaemblem_e646a292dfd340f6a5e864ce67062da5_1_0_5 in scene [object_manager.py: 1238] +05/25 11:23:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:30:39 INFO: [Worker 0] Worker 0 house 434 episode 0 object objatag_aba82ca8446a45c698c0f578ae69e1db_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 11:30:46 INFO: [Worker 0] Batching and saving trajectory data for house_434: 1 episodes [pipeline.py: 233] +05/25 11:30:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:30:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:30:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_434 [save_utils.py: 703] +05/25 11:30:53 INFO: [Worker 0] Successfully saved trajectory data for house_434 in 6.31s (batch: 6.03s, save: 0.27s) [pipeline.py: 280] +05/25 11:30:54 WARNING: [Worker 0] No trajectory data to save for house_434 [pipeline.py: 229] +05/25 11:30:54 INFO: [Worker 0] Worker 0 completed house 434: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:30:54 INFO: [Worker 0] Worker 0 starting house 485 (index 8/112) [pipeline.py: 473] +05/25 11:30:54 INFO: [Worker 0] Loaded 1 episodes for house 485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:30:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:30:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/25 11:30:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 11:30:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 11:31:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_485_ceiling.xml [task_sampler.py: 797] +05/25 11:31:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:31:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:31:02 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 11:31:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:31:02 INFO: [Worker 0] Sampled task 'Pick up the instrumentality and place it in or on the rustic shallow clay bowl terracotta' [task_sampler.py: 1136] +05/25 11:31:02 INFO: [Worker 0] Worker 0 house 485 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:31:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:31:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:38:19 INFO: [Worker 0] Worker 0 house 485 episode 0 object objawallhook_22dfef4b8df64a47a61635636584f69b_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 11:38:24 INFO: [Worker 0] Batching and saving trajectory data for house_485: 1 episodes [pipeline.py: 233] +05/25 11:38:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:38:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:38:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_485 [save_utils.py: 703] +05/25 11:38:28 INFO: [Worker 0] Successfully saved trajectory data for house_485 in 3.84s (batch: 3.62s, save: 0.22s) [pipeline.py: 280] +05/25 11:38:29 WARNING: [Worker 0] No trajectory data to save for house_485 [pipeline.py: 229] +05/25 11:38:29 INFO: [Worker 0] Worker 0 completed house 485: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:38:29 INFO: [Worker 0] Worker 0 starting house 509 (index 9/112) [pipeline.py: 473] +05/25 11:38:29 INFO: [Worker 0] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:38:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a [json_eval_task_sampler.py: 648] +05/25 11:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 11:38:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/25 11:38:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_509_ceiling.xml [task_sampler.py: 797] +05/25 11:38:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=509, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:38:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:38:32 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/25 11:38:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:38:32 INFO: [Worker 0] Sampled task 'Pick up the wooden stake and place it in or on the sculptural bowl with earthy texture' [task_sampler.py: 1136] +05/25 11:38:32 INFO: [Worker 0] Worker 0 house 509 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:38:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:38:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:47:26 INFO: [Worker 0] Worker 0 house 509 episode 0 object objastake_b0a556bb94244aee8d77e80f2a603c02_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 11:47:30 INFO: [Worker 0] Batching and saving trajectory data for house_509: 1 episodes [pipeline.py: 233] +05/25 11:47:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:47:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:47:34 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_509 [save_utils.py: 703] +05/25 11:47:34 INFO: [Worker 0] Successfully saved trajectory data for house_509 in 3.64s (batch: 3.47s, save: 0.17s) [pipeline.py: 280] +05/25 11:47:35 WARNING: [Worker 0] No trajectory data to save for house_509 [pipeline.py: 229] +05/25 11:47:35 INFO: [Worker 0] Worker 0 completed house 509: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:47:35 INFO: [Worker 0] Worker 0 starting house 543 (index 10/112) [pipeline.py: 473] +05/25 11:47:35 INFO: [Worker 0] Loaded 1 episodes for house 543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:47:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:47:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 11:47:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/25 11:47:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 11:47:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_543_ceiling.xml [task_sampler.py: 797] +05/25 11:47:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=543, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:47:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:47:45 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/25 11:47:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:47:45 INFO: [Worker 0] Sampled task 'Pick up the transparent capsule with red element and place it in or on the pink geometric box' [task_sampler.py: 1136] +05/25 11:47:45 INFO: [Worker 0] Worker 0 house 543 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:47:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:49:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:55:05 INFO: [Worker 0] Worker 0 house 543 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 11:55:10 INFO: [Worker 0] Batching and saving trajectory data for house_543: 1 episodes [pipeline.py: 233] +05/25 11:55:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:55:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:55:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_543 [save_utils.py: 703] +05/25 11:55:13 INFO: [Worker 0] Successfully saved trajectory data for house_543 in 3.15s (batch: 3.02s, save: 0.12s) [pipeline.py: 280] +05/25 11:55:13 WARNING: [Worker 0] No trajectory data to save for house_543 [pipeline.py: 229] +05/25 11:55:13 INFO: [Worker 0] Worker 0 completed house 543: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:55:13 INFO: [Worker 0] Worker 0 starting house 1049 (index 11/112) [pipeline.py: 473] +05/25 11:55:13 INFO: [Worker 0] Loaded 1 episodes for house 1049 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 11:55:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:55:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81 [json_eval_task_sampler.py: 648] +05/25 11:55:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/25 11:55:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f486de07c6f347588bcd3d22456f328d [json_eval_task_sampler.py: 648] +05/25 11:55:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1049_ceiling.xml [task_sampler.py: 797] +05/25 11:55:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1049, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:55:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:55:24 INFO: [Worker 0] randomize_scene: Setting poses for 109 objects [json_eval_task_sampler.py: 686] +05/25 11:55:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:55:25 INFO: [Worker 0] Sampled task 'Pick up the red traditional fierce mask and place it in or on the white tray with blue compartment' [task_sampler.py: 1136] +05/25 11:55:25 INFO: [Worker 0] Worker 0 house 1049 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:55:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:06:16 INFO: [Worker 0] Worker 0 house 1049 episode 0 object objanohmask_b40fb0a2596f4981978f3e13e1c4fa83_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 12:06:21 INFO: [Worker 0] Batching and saving trajectory data for house_1049: 1 episodes [pipeline.py: 233] +05/25 12:06:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:06:24 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1049 [save_utils.py: 703] +05/25 12:06:24 INFO: [Worker 0] Successfully saved trajectory data for house_1049 in 3.59s (batch: 3.43s, save: 0.16s) [pipeline.py: 280] +05/25 12:06:25 WARNING: [Worker 0] No trajectory data to save for house_1049 [pipeline.py: 229] +05/25 12:06:25 INFO: [Worker 0] Worker 0 completed house 1049: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:06:25 INFO: [Worker 0] Worker 0 starting house 1079 (index 12/112) [pipeline.py: 473] +05/25 12:06:25 INFO: [Worker 0] Loaded 2 episodes for house 1079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:06:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:06:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/25 12:06:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/25 12:06:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 12:06:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1079_ceiling.xml [task_sampler.py: 797] +05/25 12:06:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1079, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:06:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:06:38 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/25 12:06:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:06:38 INFO: [Worker 0] Sampled task 'Pick up the black handled scissors and place it in or on the brown wooden leaf tray' [task_sampler.py: 1136] +05/25 12:06:38 INFO: [Worker 0] Worker 0 house 1079 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 12:06:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:06:39 WARNING: [Worker 0] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_1_0_5 in scene [object_manager.py: 1238] +05/25 12:06:39 WARNING: [Worker 0] Could not find object objashoe_2e8543d376334b9bb608d7e69d490792_1_0_5 in scene [object_manager.py: 1238] +05/25 12:09:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:14:16 INFO: [Worker 0] Worker 0 house 1079 episode 0 object objascissors_2b1120c4b517409184413ed709c57a66_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 12:14:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/25 12:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/25 12:14:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 12:14:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1079_ceiling.xml [task_sampler.py: 797] +05/25 12:14:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1079, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:14:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:14:29 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/25 12:14:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:14:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:14:29 INFO: [Worker 0] Sampled task 'Pick up the white calendar and place it in or on the rusty metal tray with meat' [task_sampler.py: 1136] +05/25 12:14:29 INFO: [Worker 0] Worker 0 house 1079 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 12:14:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:14:29 WARNING: [Worker 0] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_1_0_5 in scene [object_manager.py: 1238] +05/25 12:14:29 WARNING: [Worker 0] Could not find object objashoe_2e8543d376334b9bb608d7e69d490792_1_0_5 in scene [object_manager.py: 1238] +05/25 12:16:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:21:23 INFO: [Worker 0] Worker 0 house 1079 episode 1 object objadeskcalendar_272ecf3874af4395b264b86ae78fd827_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 12:21:27 INFO: [Worker 0] Batching and saving trajectory data for house_1079: 2 episodes [pipeline.py: 233] +05/25 12:21:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:21:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:21:33 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1079 [save_utils.py: 703] +05/25 12:21:33 INFO: [Worker 0] Successfully saved trajectory data for house_1079 in 5.80s (batch: 5.53s, save: 0.27s) [pipeline.py: 280] +05/25 12:21:34 WARNING: [Worker 0] No trajectory data to save for house_1079 [pipeline.py: 229] +05/25 12:21:34 INFO: [Worker 0] Worker 0 completed house 1079: 0/2 successful episodes [pipeline.py: 1243] +05/25 12:21:34 INFO: [Worker 0] Worker 0 starting house 1093 (index 13/112) [pipeline.py: 473] +05/25 12:21:34 INFO: [Worker 0] Loaded 1 episodes for house 1093 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:21:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:21:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 12:21:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 12:21:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/25 12:21:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1093_ceiling.xml [task_sampler.py: 797] +05/25 12:21:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1093, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:21:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:21:39 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 12:21:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:21:39 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool with triangular loop and place it in or on the white ceramic bowl with food' [task_sampler.py: 1136] +05/25 12:21:39 INFO: [Worker 0] Worker 0 house 1093 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:21:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:21:39 WARNING: [Worker 0] Could not find object objalantern_2c90fa126eb64a00b56482f7f4c1e959_1_0_7 in scene [object_manager.py: 1238] +05/25 12:21:39 WARNING: [Worker 0] Could not find object objadecorativekey_1a805a1dc8754e079523994be07390c5_1_0_7 in scene [object_manager.py: 1238] +05/25 12:21:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:28:09 INFO: [Worker 0] Worker 0 house 1093 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 12:28:16 INFO: [Worker 0] Batching and saving trajectory data for house_1093: 1 episodes [pipeline.py: 233] +05/25 12:28:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:28:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:28:20 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1093 [save_utils.py: 703] +05/25 12:28:20 INFO: [Worker 0] Successfully saved trajectory data for house_1093 in 4.58s (batch: 4.35s, save: 0.23s) [pipeline.py: 280] +05/25 12:28:21 WARNING: [Worker 0] No trajectory data to save for house_1093 [pipeline.py: 229] +05/25 12:28:21 INFO: [Worker 0] Worker 0 completed house 1093: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:28:21 INFO: [Worker 0] Worker 0 starting house 1134 (index 14/112) [pipeline.py: 473] +05/25 12:28:21 INFO: [Worker 0] Loaded 1 episodes for house 1134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:28:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:28:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/25 12:28:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 12:28:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_5 [json_eval_task_sampler.py: 648] +05/25 12:28:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1134_ceiling.xml [task_sampler.py: 797] +05/25 12:28:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1134, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:28:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:28:24 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/25 12:28:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:28:24 INFO: [Worker 0] Sampled task 'Pick up the videocassette and place it in or on the small round brown ceramic bowl' [task_sampler.py: 1136] +05/25 12:28:24 INFO: [Worker 0] Worker 0 house 1134 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:28:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:28:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:30:30 INFO: [Worker 0] Worker 0 house 1134 episode 0 object objaminidvtape_8ce4607326784eda8675e3bcfb11ff6f_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 12:30:37 INFO: [Worker 0] Batching and saving trajectory data for house_1134: 1 episodes [pipeline.py: 233] +05/25 12:30:37 INFO: [Worker 0] Preparing episode data: 125 timesteps [save_utils.py: 284] +05/25 12:30:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:30:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1134 [save_utils.py: 703] +05/25 12:30:43 INFO: [Worker 0] Successfully saved trajectory data for house_1134 in 6.07s (batch: 5.97s, save: 0.11s) [pipeline.py: 280] +05/25 12:30:45 WARNING: [Worker 0] No trajectory data to save for house_1134 [pipeline.py: 229] +05/25 12:30:45 INFO: [Worker 0] Worker 0 completed house 1134: 1/1 successful episodes [pipeline.py: 1243] +05/25 12:30:45 INFO: [Worker 0] Worker 0 starting house 1193 (index 15/112) [pipeline.py: 473] +05/25 12:30:45 INFO: [Worker 0] Loaded 1 episodes for house 1193 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:30:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/25 12:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/cfe3c9eed1554f59ad7756e27d97c667 [json_eval_task_sampler.py: 648] +05/25 12:30:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/25 12:30:47 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 12:30:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1193_ceiling.xml [task_sampler.py: 797] +05/25 12:30:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1193, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:30:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:30:53 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 12:30:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:30:53 INFO: [Worker 0] Sampled task 'Pick up the small colored cube and place it in or on the ceramic dish' [task_sampler.py: 1136] +05/25 12:30:53 INFO: [Worker 0] Worker 0 house 1193 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:30:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:30:54 WARNING: [Worker 0] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_5 in scene [object_manager.py: 1238] +05/25 12:30:54 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 12:30:54 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/25 12:30:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:37:59 INFO: [Worker 0] Worker 0 house 1193 episode 0 object objapuzzletoy_854a432ad32a4a51a503b865b010b3ca_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:38:04 INFO: [Worker 0] Batching and saving trajectory data for house_1193: 1 episodes [pipeline.py: 233] +05/25 12:38:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:38:08 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1193 [save_utils.py: 703] +05/25 12:38:08 INFO: [Worker 0] Successfully saved trajectory data for house_1193 in 3.51s (batch: 3.34s, save: 0.17s) [pipeline.py: 280] +05/25 12:38:09 WARNING: [Worker 0] No trajectory data to save for house_1193 [pipeline.py: 229] +05/25 12:38:09 INFO: [Worker 0] Worker 0 completed house 1193: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:38:09 INFO: [Worker 0] Worker 0 starting house 1254 (index 16/112) [pipeline.py: 473] +05/25 12:38:09 INFO: [Worker 0] Loaded 1 episodes for house 1254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:38:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:38:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 12:38:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/25 12:38:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/25 12:38:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1254_ceiling.xml [task_sampler.py: 797] +05/25 12:38:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1254, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:38:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:38:15 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 12:38:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:38:15 INFO: [Worker 0] Sampled task 'Pick up the microcontrollerboard and place it in or on the matte brown ceramic bowl' [task_sampler.py: 1136] +05/25 12:38:15 INFO: [Worker 0] Worker 0 house 1254 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:38:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:38:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:46:38 INFO: [Worker 0] Worker 0 house 1254 episode 0 object objamicrocontrollerboard_775a2bf901a74fd190f175f5f0dcf2d0_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 12:46:42 INFO: [Worker 0] Batching and saving trajectory data for house_1254: 1 episodes [pipeline.py: 233] +05/25 12:46:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:46:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1254 [save_utils.py: 703] +05/25 12:46:45 INFO: [Worker 0] Successfully saved trajectory data for house_1254 in 3.03s (batch: 2.87s, save: 0.16s) [pipeline.py: 280] +05/25 12:46:46 WARNING: [Worker 0] No trajectory data to save for house_1254 [pipeline.py: 229] +05/25 12:46:46 INFO: [Worker 0] Worker 0 completed house 1254: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:46:46 INFO: [Worker 0] Worker 0 starting house 1268 (index 17/112) [pipeline.py: 473] +05/25 12:46:46 INFO: [Worker 0] Loaded 2 episodes for house 1268 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:46:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:46:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 12:46:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/25 12:46:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_6 [json_eval_task_sampler.py: 648] +05/25 12:46:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1268_ceiling.xml [task_sampler.py: 797] +05/25 12:46:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1268, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:46:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:46:52 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/25 12:46:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:46:53 INFO: [Worker 0] Sampled task 'Pick up the traffic light and place it in or on the ornate red box' [task_sampler.py: 1136] +05/25 12:46:53 INFO: [Worker 0] Worker 0 house 1268 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 12:46:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:46:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:51:56 INFO: [Worker 0] Worker 0 house 1268 episode 0 object objaminiaturetrafficlight_91e0f0d9601f48baaf9b3524578bd854_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 12:52:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:52:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 12:52:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/25 12:52:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_6 [json_eval_task_sampler.py: 648] +05/25 12:52:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1268_ceiling.xml [task_sampler.py: 797] +05/25 12:52:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1268, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:52:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:52:10 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/25 12:52:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:52:10 INFO: [Worker 0] Sampled task 'Pick up the round wooden spinning top with string and place it in or on the dark gray ceramic bowl with gloss' [task_sampler.py: 1136] +05/25 12:52:10 INFO: [Worker 0] Worker 0 house 1268 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 12:52:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:52:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:57:17 INFO: [Worker 0] Worker 0 house 1268 episode 1 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 12:57:22 INFO: [Worker 0] Batching and saving trajectory data for house_1268: 2 episodes [pipeline.py: 233] +05/25 12:57:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:57:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:57:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:57:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:57:28 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1268 [save_utils.py: 703] +05/25 12:57:28 INFO: [Worker 0] Successfully saved trajectory data for house_1268 in 6.52s (batch: 6.26s, save: 0.26s) [pipeline.py: 280] +05/25 12:57:29 WARNING: [Worker 0] No trajectory data to save for house_1268 [pipeline.py: 229] +05/25 12:57:29 INFO: [Worker 0] Worker 0 completed house 1268: 0/2 successful episodes [pipeline.py: 1243] +05/25 12:57:29 INFO: [Worker 0] Worker 0 starting house 1336 (index 18/112) [pipeline.py: 473] +05/25 12:57:29 INFO: [Worker 0] Loaded 1 episodes for house 1336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 12:57:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:57:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 12:57:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/25 12:57:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 12:57:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1336_ceiling.xml [task_sampler.py: 797] +05/25 12:57:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1336, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:57:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:57:39 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 12:57:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:57:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:57:39 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake image and place it in or on the round metallic bowl' [task_sampler.py: 1136] +05/25 12:57:39 INFO: [Worker 0] Worker 0 house 1336 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:57:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:57:40 WARNING: [Worker 0] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_9 in scene [object_manager.py: 1238] +05/25 13:04:16 INFO: [Worker 0] Worker 0 house 1336 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 13:04:20 INFO: [Worker 0] Batching and saving trajectory data for house_1336: 1 episodes [pipeline.py: 233] +05/25 13:04:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:04:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:04:23 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1336 [save_utils.py: 703] +05/25 13:04:23 INFO: [Worker 0] Successfully saved trajectory data for house_1336 in 2.89s (batch: 2.77s, save: 0.12s) [pipeline.py: 280] +05/25 13:04:24 WARNING: [Worker 0] No trajectory data to save for house_1336 [pipeline.py: 229] +05/25 13:04:24 INFO: [Worker 0] Worker 0 completed house 1336: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:04:24 INFO: [Worker 0] Worker 0 starting house 1400 (index 19/112) [pipeline.py: 473] +05/25 13:04:24 INFO: [Worker 0] Loaded 1 episodes for house 1400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:04:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:04:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/25 13:04:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27 [json_eval_task_sampler.py: 648] +05/25 13:04:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2df58d08f5604c058d43e00677d325b6 [json_eval_task_sampler.py: 648] +05/25 13:04:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1400_ceiling.xml [task_sampler.py: 797] +05/25 13:04:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1400, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:04:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:04:30 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 13:04:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:04:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:04:30 INFO: [Worker 0] Sampled task 'Pick up the carved wooden horse knight and place it in or on the dark shallow round bowl with contrast' [task_sampler.py: 1136] +05/25 13:04:30 INFO: [Worker 0] Worker 0 house 1400 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:04:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:04:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:11:38 INFO: [Worker 0] Worker 0 house 1400 episode 0 object objachesspiece_a3205a31746b4f32a85ca1472f1ce684_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:11:44 INFO: [Worker 0] Batching and saving trajectory data for house_1400: 1 episodes [pipeline.py: 233] +05/25 13:11:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:11:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1400 [save_utils.py: 703] +05/25 13:11:49 INFO: [Worker 0] Successfully saved trajectory data for house_1400 in 4.37s (batch: 4.07s, save: 0.30s) [pipeline.py: 280] +05/25 13:11:50 WARNING: [Worker 0] No trajectory data to save for house_1400 [pipeline.py: 229] +05/25 13:11:50 INFO: [Worker 0] Worker 0 completed house 1400: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:11:50 INFO: [Worker 0] Worker 0 starting house 1475 (index 20/112) [pipeline.py: 473] +05/25 13:11:50 INFO: [Worker 0] Loaded 1 episodes for house 1475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:11:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:11:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/589cc33e26134e808392ac3e956ba868 [json_eval_task_sampler.py: 648] +05/25 13:11:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/25 13:11:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 13:11:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1475_ceiling.xml [task_sampler.py: 797] +05/25 13:11:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:11:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:11:56 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 13:11:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:11:56 INFO: [Worker 0] Sampled task 'Pick up the red rectangular button with text and place it in or on the place receptacl 0' [task_sampler.py: 1136] +05/25 13:11:56 INFO: [Worker 0] Worker 0 house 1475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:11:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:27:46 INFO: [Worker 0] Worker 0 house 1475 episode 0 object objabutton_338b1ea1284f4de092b21a80aceb444b_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 13:27:51 INFO: [Worker 0] Batching and saving trajectory data for house_1475: 1 episodes [pipeline.py: 233] +05/25 13:27:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:27:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:27:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1475 [save_utils.py: 703] +05/25 13:27:55 INFO: [Worker 0] Successfully saved trajectory data for house_1475 in 4.05s (batch: 3.76s, save: 0.29s) [pipeline.py: 280] +05/25 13:27:56 WARNING: [Worker 0] No trajectory data to save for house_1475 [pipeline.py: 229] +05/25 13:27:56 INFO: [Worker 0] Worker 0 completed house 1475: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:27:56 INFO: [Worker 0] Worker 0 starting house 1532 (index 21/112) [pipeline.py: 473] +05/25 13:27:56 INFO: [Worker 0] Loaded 1 episodes for house 1532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:27:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:27:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0 [json_eval_task_sampler.py: 648] +05/25 13:27:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/25 13:27:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f9561598da77463f9eb6fecd4bc301b5 [json_eval_task_sampler.py: 648] +05/25 13:27:58 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 13:28:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1532_ceiling.xml [task_sampler.py: 797] +05/25 13:28:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1532, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:28:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:28:02 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 13:28:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:28:02 INFO: [Worker 0] Sampled task 'Pick up the vintage silver and black camera and place it in or on the dark shallow round bowl' [task_sampler.py: 1136] +05/25 13:28:02 INFO: [Worker 0] Worker 0 house 1532 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:28:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:28:03 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_7 in scene [object_manager.py: 1238] +05/25 13:28:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:34:16 INFO: [Worker 0] Worker 0 house 1532 episode 0 object objacamera_bc3e3ee3334146f986324dc22f3d8482_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 13:34:20 INFO: [Worker 0] Batching and saving trajectory data for house_1532: 1 episodes [pipeline.py: 233] +05/25 13:34:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:34:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:34:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1532 [save_utils.py: 703] +05/25 13:34:23 INFO: [Worker 0] Successfully saved trajectory data for house_1532 in 3.03s (batch: 2.92s, save: 0.12s) [pipeline.py: 280] +05/25 13:34:23 WARNING: [Worker 0] No trajectory data to save for house_1532 [pipeline.py: 229] +05/25 13:34:23 INFO: [Worker 0] Worker 0 completed house 1532: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:34:23 INFO: [Worker 0] Worker 0 starting house 1579 (index 22/112) [pipeline.py: 473] +05/25 13:34:23 INFO: [Worker 0] Loaded 1 episodes for house 1579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:34:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:34:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 13:34:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/25 13:34:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5 [json_eval_task_sampler.py: 648] +05/25 13:34:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1579_ceiling.xml [task_sampler.py: 797] +05/25 13:34:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1579, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:34:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:34:28 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 13:34:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:34:29 INFO: [Worker 0] Sampled task 'Pick up the black leather collar with spikes and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 13:34:29 INFO: [Worker 0] Worker 0 house 1579 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:34:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:34:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:38:20 INFO: [Worker 0] Worker 0 house 1579 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 13:38:24 INFO: [Worker 0] Batching and saving trajectory data for house_1579: 1 episodes [pipeline.py: 233] +05/25 13:38:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:38:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:38:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1579 [save_utils.py: 703] +05/25 13:38:28 INFO: [Worker 0] Successfully saved trajectory data for house_1579 in 3.18s (batch: 3.05s, save: 0.14s) [pipeline.py: 280] +05/25 13:38:28 WARNING: [Worker 0] No trajectory data to save for house_1579 [pipeline.py: 229] +05/25 13:38:28 INFO: [Worker 0] Worker 0 completed house 1579: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:38:28 INFO: [Worker 0] Worker 0 starting house 1612 (index 23/112) [pipeline.py: 473] +05/25 13:38:28 INFO: [Worker 0] Loaded 2 episodes for house 1612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:38:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:38:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 13:38:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/25 13:38:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/25 13:38:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1612_ceiling.xml [task_sampler.py: 797] +05/25 13:38:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1612, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:38:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:38:31 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/25 13:38:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:38:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:38:31 INFO: [Worker 0] Sampled task 'Pick up the small pale irregular bone fragment and place it in or on the shallow bowl with rim' [task_sampler.py: 1136] +05/25 13:38:31 INFO: [Worker 0] Worker 0 house 1612 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 13:38:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:38:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:40:58 INFO: [Worker 0] Worker 0 house 1612 episode 0 object objanaturalartifact_c07cf2c7f88548e4a52b5362dae831b1_1_0_3 completed with success=True [pipeline.py: 1114] +05/25 13:41:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:41:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 13:41:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/25 13:41:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/25 13:41:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1612_ceiling.xml [task_sampler.py: 797] +05/25 13:41:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1612, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:41:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:41:05 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/25 13:41:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:41:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:41:05 INFO: [Worker 0] Sampled task 'Pick up the artifact and place it in or on the stone bowl filled with crystals' [task_sampler.py: 1136] +05/25 13:41:05 INFO: [Worker 0] Worker 0 house 1612 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 13:41:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:41:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:45:22 INFO: [Worker 0] Worker 0 house 1612 episode 1 object objaartifact_00a0368e192942888606a56398823531_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:45:27 INFO: [Worker 0] Batching and saving trajectory data for house_1612: 2 episodes [pipeline.py: 233] +05/25 13:45:27 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 284] +05/25 13:45:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:45:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:45:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:45:33 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1612 [save_utils.py: 703] +05/25 13:45:33 INFO: [Worker 0] Successfully saved trajectory data for house_1612 in 6.52s (batch: 6.26s, save: 0.26s) [pipeline.py: 280] +05/25 13:45:34 WARNING: [Worker 0] No trajectory data to save for house_1612 [pipeline.py: 229] +05/25 13:45:34 INFO: [Worker 0] Worker 0 completed house 1612: 1/2 successful episodes [pipeline.py: 1243] +05/25 13:45:34 INFO: [Worker 0] Worker 0 starting house 1615 (index 24/112) [pipeline.py: 473] +05/25 13:45:34 INFO: [Worker 0] Loaded 1 episodes for house 1615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:45:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:45:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af624cab76c04bec86f0c928207797d8 [json_eval_task_sampler.py: 648] +05/25 13:45:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4b5c2f816e814756960ac3be616fd29d [json_eval_task_sampler.py: 648] +05/25 13:45:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/25 13:45:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1615_ceiling.xml [task_sampler.py: 797] +05/25 13:45:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1615, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:45:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:45:39 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/25 13:45:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:45:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:45:39 INFO: [Worker 0] Sampled task 'Pick up the pink shutter glasses with cyan accents and place it in or on the smooth shallow light brown bowl' [task_sampler.py: 1136] +05/25 13:45:39 INFO: [Worker 0] Worker 0 house 1615 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:45:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:45:39 WARNING: [Worker 0] Could not find object objafabric_ad1303e9a5714a63985dbb8c3c7cb1d5_1_0_3 in scene [object_manager.py: 1238] +05/25 13:45:39 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_3 in scene [object_manager.py: 1238] +05/25 13:45:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:50:56 INFO: [Worker 0] Worker 0 house 1615 episode 0 object objaglasses_264513364e33486bb44c74bed49692f9_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 13:51:00 INFO: [Worker 0] Batching and saving trajectory data for house_1615: 1 episodes [pipeline.py: 233] +05/25 13:51:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:51:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:51:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1615 [save_utils.py: 703] +05/25 13:51:04 INFO: [Worker 0] Successfully saved trajectory data for house_1615 in 3.54s (batch: 3.43s, save: 0.11s) [pipeline.py: 280] +05/25 13:51:04 WARNING: [Worker 0] No trajectory data to save for house_1615 [pipeline.py: 229] +05/25 13:51:04 INFO: [Worker 0] Worker 0 completed house 1615: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:51:04 INFO: [Worker 0] Worker 0 starting house 1663 (index 25/112) [pipeline.py: 473] +05/25 13:51:04 INFO: [Worker 0] Loaded 1 episodes for house 1663 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 13:51:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 13:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 13:51:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/25 13:51:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1663_ceiling.xml [task_sampler.py: 797] +05/25 13:51:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1663, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:51:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:51:17 INFO: [Worker 0] randomize_scene: Setting poses for 106 objects [json_eval_task_sampler.py: 686] +05/25 13:51:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:51:17 INFO: [Worker 0] Sampled task 'Pick up the silver circular emblem with lightning bolt and place it in or on the shallow round wooden bowl with texture' [task_sampler.py: 1136] +05/25 13:51:17 INFO: [Worker 0] Worker 0 house 1663 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:51:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:11:24 INFO: [Worker 0] Worker 0 house 1663 episode 0 object objaemblem_96907aeebd274c7e8aadbc9b893db4a9_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 15:11:29 INFO: [Worker 0] Batching and saving trajectory data for house_1663: 1 episodes [pipeline.py: 233] +05/25 15:11:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:11:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:11:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1663 [save_utils.py: 703] +05/25 15:11:33 INFO: [Worker 0] Successfully saved trajectory data for house_1663 in 3.95s (batch: 3.65s, save: 0.30s) [pipeline.py: 280] +05/25 15:11:34 WARNING: [Worker 0] No trajectory data to save for house_1663 [pipeline.py: 229] +05/25 15:11:34 INFO: [Worker 0] Worker 0 completed house 1663: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:11:34 INFO: [Worker 0] Worker 0 starting house 1700 (index 26/112) [pipeline.py: 473] +05/25 15:11:34 INFO: [Worker 0] Loaded 1 episodes for house 1700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:11:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:11:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cfe3c9eed1554f59ad7756e27d97c667 [json_eval_task_sampler.py: 648] +05/25 15:11:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/25 15:11:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a [json_eval_task_sampler.py: 648] +05/25 15:11:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1700_ceiling.xml [task_sampler.py: 797] +05/25 15:11:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1700, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:11:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:11:45 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/25 15:11:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:11:45 INFO: [Worker 0] Sampled task 'Pick up the spinningtop and place it in or on the gray ceramic shallow bowl' [task_sampler.py: 1136] +05/25 15:11:45 INFO: [Worker 0] Worker 0 house 1700 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:11:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:11:46 WARNING: [Worker 0] Could not find object objatoyrocket_d55375337d624047a92b414be8daed92_1_0_4 in scene [object_manager.py: 1238] +05/25 15:11:46 WARNING: [Worker 0] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene [object_manager.py: 1238] +05/25 15:16:53 INFO: [Worker 0] Worker 0 house 1700 episode 0 object objaspinningtop_d090504b2d994d7c812c14bc963afe90_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 15:16:58 INFO: [Worker 0] Batching and saving trajectory data for house_1700: 1 episodes [pipeline.py: 233] +05/25 15:16:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:17:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:17:02 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1700 [save_utils.py: 703] +05/25 15:17:02 INFO: [Worker 0] Successfully saved trajectory data for house_1700 in 3.59s (batch: 3.40s, save: 0.18s) [pipeline.py: 280] +05/25 15:17:03 WARNING: [Worker 0] No trajectory data to save for house_1700 [pipeline.py: 229] +05/25 15:17:03 INFO: [Worker 0] Worker 0 completed house 1700: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:17:03 INFO: [Worker 0] Worker 0 starting house 1751 (index 27/112) [pipeline.py: 473] +05/25 15:17:03 INFO: [Worker 0] Loaded 1 episodes for house 1751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:17:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:17:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 15:17:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/25 15:17:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 15:17:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1751_ceiling.xml [task_sampler.py: 797] +05/25 15:17:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1751, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:17:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:17:06 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 15:17:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:17:06 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular box with white text and place it in or on the round wooden bowl with grain' [task_sampler.py: 1136] +05/25 15:17:06 INFO: [Worker 0] Worker 0 house 1751 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:17:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:17:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:20:50 INFO: [Worker 0] Worker 0 house 1751 episode 0 object objamedicinebox_ac4c4904d3ea40fe8ac265f3821603a8_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 15:20:55 INFO: [Worker 0] Batching and saving trajectory data for house_1751: 1 episodes [pipeline.py: 233] +05/25 15:20:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:20:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:20:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1751 [save_utils.py: 703] +05/25 15:20:58 INFO: [Worker 0] Successfully saved trajectory data for house_1751 in 3.57s (batch: 3.37s, save: 0.20s) [pipeline.py: 280] +05/25 15:20:59 WARNING: [Worker 0] No trajectory data to save for house_1751 [pipeline.py: 229] +05/25 15:20:59 INFO: [Worker 0] Worker 0 completed house 1751: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:20:59 INFO: [Worker 0] Worker 0 starting house 1803 (index 28/112) [pipeline.py: 473] +05/25 15:20:59 INFO: [Worker 0] Loaded 1 episodes for house 1803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:20:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:21:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 15:21:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/25 15:21:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/25 15:21:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1803_ceiling.xml [task_sampler.py: 797] +05/25 15:21:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1803, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:21:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:21:07 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 15:21:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:21:07 INFO: [Worker 0] Sampled task 'Pick up the white spray paint can and place it in or on the gray smooth bowl' [task_sampler.py: 1136] +05/25 15:21:07 INFO: [Worker 0] Worker 0 house 1803 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:21:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:21:07 WARNING: [Worker 0] Could not find object objanotebook_18f2248f31e6497f8e8bd9fd517f0137_1_0_8 in scene [object_manager.py: 1238] +05/25 15:21:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:25:32 INFO: [Worker 0] Worker 0 house 1803 episode 0 object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 15:25:36 INFO: [Worker 0] Batching and saving trajectory data for house_1803: 1 episodes [pipeline.py: 233] +05/25 15:25:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:25:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:25:39 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1803 [save_utils.py: 703] +05/25 15:25:39 INFO: [Worker 0] Successfully saved trajectory data for house_1803 in 2.89s (batch: 2.78s, save: 0.11s) [pipeline.py: 280] +05/25 15:25:39 WARNING: [Worker 0] No trajectory data to save for house_1803 [pipeline.py: 229] +05/25 15:25:39 INFO: [Worker 0] Worker 0 completed house 1803: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:25:39 INFO: [Worker 0] Worker 0 starting house 1852 (index 29/112) [pipeline.py: 473] +05/25 15:25:39 INFO: [Worker 0] Loaded 1 episodes for house 1852 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:25:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:25:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_9 [json_eval_task_sampler.py: 648] +05/25 15:25:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfdeafe4916c421e91dce2acb972d0f8 [json_eval_task_sampler.py: 648] +05/25 15:25:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 15:25:40 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 15:25:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1852_ceiling.xml [task_sampler.py: 797] +05/25 15:25:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1852, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:25:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:25:43 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 15:25:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:25:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:25:43 INFO: [Worker 0] Sampled task 'Pick up the golden star badge and place it in or on the shallow round wooden bowl' [task_sampler.py: 1136] +05/25 15:25:43 INFO: [Worker 0] Worker 0 house 1852 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:25:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:25:43 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_8 in scene [object_manager.py: 1238] +05/25 15:27:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:31:09 INFO: [Worker 0] Worker 0 house 1852 episode 0 object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 15:31:13 INFO: [Worker 0] Batching and saving trajectory data for house_1852: 1 episodes [pipeline.py: 233] +05/25 15:31:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:31:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:31:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1852 [save_utils.py: 703] +05/25 15:31:16 INFO: [Worker 0] Successfully saved trajectory data for house_1852 in 2.91s (batch: 2.77s, save: 0.14s) [pipeline.py: 280] +05/25 15:31:16 WARNING: [Worker 0] No trajectory data to save for house_1852 [pipeline.py: 229] +05/25 15:31:16 INFO: [Worker 0] Worker 0 completed house 1852: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:31:16 INFO: [Worker 0] Worker 0 starting house 1882 (index 30/112) [pipeline.py: 473] +05/25 15:31:16 INFO: [Worker 0] Loaded 1 episodes for house 1882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:31:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:31:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_17 [json_eval_task_sampler.py: 648] +05/25 15:31:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 15:31:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78 [json_eval_task_sampler.py: 648] +05/25 15:31:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1882_ceiling.xml [task_sampler.py: 797] +05/25 15:31:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1882, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:31:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:31:23 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 15:31:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:31:23 INFO: [Worker 0] Sampled task 'Pick up the yellow topped muffin with paper and place it in or on the light gray shallow round bowl' [task_sampler.py: 1136] +05/25 15:31:23 INFO: [Worker 0] Worker 0 house 1882 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:31:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:45:49 INFO: [Worker 0] Worker 0 house 1882 episode 0 object objamuffin_b3f4e875b393444a84de8c0a57d1d2da_2_0_8 completed with success=False [pipeline.py: 1114] +05/25 15:45:54 INFO: [Worker 0] Batching and saving trajectory data for house_1882: 1 episodes [pipeline.py: 233] +05/25 15:45:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:45:57 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1882 [save_utils.py: 703] +05/25 15:45:57 INFO: [Worker 0] Successfully saved trajectory data for house_1882 in 3.33s (batch: 3.15s, save: 0.18s) [pipeline.py: 280] +05/25 15:45:58 WARNING: [Worker 0] No trajectory data to save for house_1882 [pipeline.py: 229] +05/25 15:45:58 INFO: [Worker 0] Worker 0 completed house 1882: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:45:58 INFO: [Worker 0] Worker 0 starting house 1960 (index 31/112) [pipeline.py: 473] +05/25 15:45:58 INFO: [Worker 0] Loaded 1 episodes for house 1960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:45:58 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] +05/25 15:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/25 15:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/937044a40c3845bf88639056005b8a75 [json_eval_task_sampler.py: 648] +05/25 15:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/25 15:46:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1960_ceiling.xml [task_sampler.py: 797] +05/25 15:46:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1960, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:46:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:46:01 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 15:46:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:46:01 INFO: [Worker 0] Sampled task 'Pick up the soap dispenser and place it in or on the teal bowl' [task_sampler.py: 1136] +05/25 15:46:01 INFO: [Worker 0] Worker 0 house 1960 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:46:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:50:10 INFO: [Worker 0] Worker 0 house 1960 episode 0 object soapdispenser_2b480aa666c86f6fbe993d7230e43625_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 15:50:15 INFO: [Worker 0] Batching and saving trajectory data for house_1960: 1 episodes [pipeline.py: 233] +05/25 15:50:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:50:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:50:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1960 [save_utils.py: 703] +05/25 15:50:18 INFO: [Worker 0] Successfully saved trajectory data for house_1960 in 3.26s (batch: 3.06s, save: 0.20s) [pipeline.py: 280] +05/25 15:50:19 WARNING: [Worker 0] No trajectory data to save for house_1960 [pipeline.py: 229] +05/25 15:50:19 INFO: [Worker 0] Worker 0 completed house 1960: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:50:19 INFO: [Worker 0] Worker 0 starting house 1993 (index 32/112) [pipeline.py: 473] +05/25 15:50:19 INFO: [Worker 0] Loaded 2 episodes for house 1993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 15:50:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:50:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/25 15:50:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 15:50:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/25 15:50:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1993_ceiling.xml [task_sampler.py: 797] +05/25 15:50:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:50:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:50:24 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 15:50:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:50:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:50:24 INFO: [Worker 0] Sampled task 'Pick up the matte black cylindrical tube and place it in or on the round gray bowl' [task_sampler.py: 1136] +05/25 15:50:24 INFO: [Worker 0] Worker 0 house 1993 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 15:50:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:59:48 INFO: [Worker 0] Worker 0 house 1993 episode 0 object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 15:59:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:59:55 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/25 15:59:55 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 15:59:55 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/25 16:00:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1993_ceiling.xml [task_sampler.py: 797] +05/25 16:00:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:00:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:00:00 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 16:00:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:00:00 INFO: [Worker 0] Sampled task 'Pick up the raw meat and place it in or on the rough gray stone bowl' [task_sampler.py: 1136] +05/25 16:00:00 INFO: [Worker 0] Worker 0 house 1993 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 16:00:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:03:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:10:57 INFO: [Worker 0] Worker 0 house 1993 episode 1 object objameat_cde2a463da334dbeae73dae6911b7d7b_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:11:01 INFO: [Worker 0] Batching and saving trajectory data for house_1993: 2 episodes [pipeline.py: 233] +05/25 16:11:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:11:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:11:09 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1993 [save_utils.py: 703] +05/25 16:11:09 INFO: [Worker 0] Successfully saved trajectory data for house_1993 in 7.15s (batch: 6.81s, save: 0.34s) [pipeline.py: 280] +05/25 16:11:10 WARNING: [Worker 0] No trajectory data to save for house_1993 [pipeline.py: 229] +05/25 16:11:10 INFO: [Worker 0] Worker 0 completed house 1993: 0/2 successful episodes [pipeline.py: 1243] +05/25 16:11:10 INFO: [Worker 0] Worker 0 starting house 2021 (index 33/112) [pipeline.py: 473] +05/25 16:11:10 INFO: [Worker 0] Loaded 1 episodes for house 2021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:11:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:11:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1df7263c6e094645987c61c5d60e67d5 [json_eval_task_sampler.py: 648] +05/25 16:11:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_24 [json_eval_task_sampler.py: 648] +05/25 16:11:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/25 16:11:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2021_ceiling.xml [task_sampler.py: 797] +05/25 16:11:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2021, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:11:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:11:19 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 16:11:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:11:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:11:19 INFO: [Worker 0] Sampled task 'Pick up the medium glossy white ceramic bowl and place it in or on the rectangular plastic tray' [task_sampler.py: 1136] +05/25 16:11:19 INFO: [Worker 0] Worker 0 house 2021 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:11:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:13:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:17:41 INFO: [Worker 0] Worker 0 house 2021 episode 0 object bowl_a4a858f37a44ac4c13c7c63a85223078_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 16:17:45 INFO: [Worker 0] Batching and saving trajectory data for house_2021: 1 episodes [pipeline.py: 233] +05/25 16:17:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:17:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:17:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2021 [save_utils.py: 703] +05/25 16:17:48 INFO: [Worker 0] Successfully saved trajectory data for house_2021 in 2.80s (batch: 2.67s, save: 0.13s) [pipeline.py: 280] +05/25 16:17:49 WARNING: [Worker 0] No trajectory data to save for house_2021 [pipeline.py: 229] +05/25 16:17:49 INFO: [Worker 0] Worker 0 completed house 2021: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:17:49 INFO: [Worker 0] Worker 0 starting house 2069 (index 34/112) [pipeline.py: 473] +05/25 16:17:49 INFO: [Worker 0] Loaded 1 episodes for house 2069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:17:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:17:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/25 16:17:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3 [json_eval_task_sampler.py: 648] +05/25 16:17:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/25 16:17:50 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene [scene_maps.py: 66] +05/25 16:17:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2069_ceiling.xml [task_sampler.py: 797] +05/25 16:17:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:17:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:17:53 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/25 16:17:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:17:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:17:53 INFO: [Worker 0] Sampled task 'Pick up the yellow flower with pink center leaf and place it in or on the rustic shallow clay bowl terracotta' [task_sampler.py: 1136] +05/25 16:17:53 INFO: [Worker 0] Worker 0 house 2069 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:17:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:17:54 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/25 16:17:54 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_8 in scene [object_manager.py: 1238] +05/25 16:22:53 INFO: [Worker 0] Worker 0 house 2069 episode 0 object objadecorativeflower_5c4aeec973fd4d77927025b2bba21c9c_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 16:22:58 INFO: [Worker 0] Batching and saving trajectory data for house_2069: 1 episodes [pipeline.py: 233] +05/25 16:22:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:23:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:23:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2069 [save_utils.py: 703] +05/25 16:23:01 INFO: [Worker 0] Successfully saved trajectory data for house_2069 in 3.20s (batch: 3.05s, save: 0.15s) [pipeline.py: 280] +05/25 16:23:02 WARNING: [Worker 0] No trajectory data to save for house_2069 [pipeline.py: 229] +05/25 16:23:02 INFO: [Worker 0] Worker 0 completed house 2069: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:23:02 INFO: [Worker 0] Worker 0 starting house 2123 (index 35/112) [pipeline.py: 473] +05/25 16:23:02 INFO: [Worker 0] Loaded 1 episodes for house 2123 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:23:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:23:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 16:23:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/DecorativeBox2 [json_eval_task_sampler.py: 648] +05/25 16:23:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/25 16:23:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2123_ceiling.xml [task_sampler.py: 797] +05/25 16:23:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2123, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:23:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:23:08 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/25 16:23:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:23:08 INFO: [Worker 0] Sampled task 'Pick up the white decorative corner molding and place it in or on the dark teal box' [task_sampler.py: 1136] +05/25 16:23:08 INFO: [Worker 0] Worker 0 house 2123 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:23:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:23:08 WARNING: [Worker 0] Could not find object objaharddiskdrive_1ed2e3560e854fe2a2c028aa85ba8d6e_1_0_8 in scene [object_manager.py: 1238] +05/25 16:27:42 INFO: [Worker 0] Worker 0 house 2123 episode 0 object objacornermolding_371372e1332544bf8f2a3a456977bac8_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:27:46 INFO: [Worker 0] Batching and saving trajectory data for house_2123: 1 episodes [pipeline.py: 233] +05/25 16:27:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:27:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:27:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2123 [save_utils.py: 703] +05/25 16:27:50 INFO: [Worker 0] Successfully saved trajectory data for house_2123 in 3.43s (batch: 3.26s, save: 0.18s) [pipeline.py: 280] +05/25 16:27:50 WARNING: [Worker 0] No trajectory data to save for house_2123 [pipeline.py: 229] +05/25 16:27:50 INFO: [Worker 0] Worker 0 completed house 2123: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:27:50 INFO: [Worker 0] Worker 0 starting house 2157 (index 36/112) [pipeline.py: 473] +05/25 16:27:50 INFO: [Worker 0] Loaded 1 episodes for house 2157 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:27:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:27:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/408b385373564c16acda3224de7d2ec6 [json_eval_task_sampler.py: 648] +05/25 16:27:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/25 16:27:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5 [json_eval_task_sampler.py: 648] +05/25 16:27:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2157_ceiling.xml [task_sampler.py: 797] +05/25 16:27:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2157, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:27:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:27:59 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/25 16:27:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:27:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:27:59 INFO: [Worker 0] Sampled task 'Pick up the rectangular insulation panel with branding and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 16:27:59 INFO: [Worker 0] Worker 0 house 2157 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:27:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:27:59 WARNING: [Worker 0] Could not find object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_2 in scene [object_manager.py: 1238] +05/25 16:27:59 WARNING: [Worker 0] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 in scene [object_manager.py: 1238] +05/25 16:27:59 WARNING: [Worker 0] Could not find object objamodelcabin_6f9222cc34364ad09c94ca35dd23515d_1_0_6 in scene [object_manager.py: 1238] +05/25 16:28:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:34:54 INFO: [Worker 0] Worker 0 house 2157 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 16:34:59 INFO: [Worker 0] Batching and saving trajectory data for house_2157: 1 episodes [pipeline.py: 233] +05/25 16:34:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:35:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:35:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2157 [save_utils.py: 703] +05/25 16:35:03 INFO: [Worker 0] Successfully saved trajectory data for house_2157 in 4.29s (batch: 4.10s, save: 0.19s) [pipeline.py: 280] +05/25 16:35:04 WARNING: [Worker 0] No trajectory data to save for house_2157 [pipeline.py: 229] +05/25 16:35:04 INFO: [Worker 0] Worker 0 completed house 2157: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:35:04 INFO: [Worker 0] Worker 0 starting house 2188 (index 37/112) [pipeline.py: 473] +05/25 16:35:04 INFO: [Worker 0] Loaded 1 episodes for house 2188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:35:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:35:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/25 16:35:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3 [json_eval_task_sampler.py: 648] +05/25 16:35:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/25 16:35:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2188_ceiling.xml [task_sampler.py: 797] +05/25 16:35:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2188, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:35:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:35:09 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/25 16:35:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:35:09 INFO: [Worker 0] Sampled task 'Pick up the metal nutcracker and place it in or on the gray leaf dish' [task_sampler.py: 1136] +05/25 16:35:09 INFO: [Worker 0] Worker 0 house 2188 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:35:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:35:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:40:59 INFO: [Worker 0] Worker 0 house 2188 episode 0 object objanutcracker_6c5d5625b437407ca52ebe2f342307ad_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:41:04 INFO: [Worker 0] Batching and saving trajectory data for house_2188: 1 episodes [pipeline.py: 233] +05/25 16:41:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:41:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:41:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2188 [save_utils.py: 703] +05/25 16:41:07 INFO: [Worker 0] Successfully saved trajectory data for house_2188 in 3.64s (batch: 3.41s, save: 0.23s) [pipeline.py: 280] +05/25 16:41:08 WARNING: [Worker 0] No trajectory data to save for house_2188 [pipeline.py: 229] +05/25 16:41:08 INFO: [Worker 0] Worker 0 completed house 2188: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:41:08 INFO: [Worker 0] Worker 0 starting house 2228 (index 38/112) [pipeline.py: 473] +05/25 16:41:08 INFO: [Worker 0] Loaded 1 episodes for house 2228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:41:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:41:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 16:41:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/25 16:41:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 16:41:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2228_ceiling.xml [task_sampler.py: 797] +05/25 16:41:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2228, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:41:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:41:18 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/25 16:41:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:41:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:41:18 INFO: [Worker 0] Sampled task 'Pick up the metal adjustable wrench with handle and place it in or on the simple matte gray bowl, tapered' [task_sampler.py: 1136] +05/25 16:41:18 INFO: [Worker 0] Worker 0 house 2228 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:41:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:41:19 WARNING: [Worker 0] Could not find object objatabletennispaddle_48f2b91c32514fc591014933ffeff042_1_0_4 in scene [object_manager.py: 1238] +05/25 16:41:19 WARNING: [Worker 0] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_4 in scene [object_manager.py: 1238] +05/25 16:41:19 WARNING: [Worker 0] Could not find object objaspraycan_f8c6f7016fde4bee97c59083a6870ae5_1_0_5 in scene [object_manager.py: 1238] +05/25 16:41:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:45:50 INFO: [Worker 0] Worker 0 house 2228 episode 0 object objaadjustablewrench_d6aa4b557c014f2aacbe15e1dabbf9dd_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 16:45:54 INFO: [Worker 0] Batching and saving trajectory data for house_2228: 1 episodes [pipeline.py: 233] +05/25 16:45:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:45:57 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2228 [save_utils.py: 703] +05/25 16:45:57 INFO: [Worker 0] Successfully saved trajectory data for house_2228 in 3.28s (batch: 3.13s, save: 0.15s) [pipeline.py: 280] +05/25 16:45:58 WARNING: [Worker 0] No trajectory data to save for house_2228 [pipeline.py: 229] +05/25 16:45:58 INFO: [Worker 0] Worker 0 completed house 2228: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:45:58 INFO: [Worker 0] Worker 0 starting house 2268 (index 39/112) [pipeline.py: 473] +05/25 16:45:58 INFO: [Worker 0] Loaded 1 episodes for house 2268 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:45:58 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] +05/25 16:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/25 16:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 16:45:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/25 16:46:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2268_ceiling.xml [task_sampler.py: 797] +05/25 16:46:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2268, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:46:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:46:01 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 16:46:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:46:01 INFO: [Worker 0] Sampled task 'Pick up the wooden bowl and place it in or on the round dark stone bowl' [task_sampler.py: 1136] +05/25 16:46:01 INFO: [Worker 0] Worker 0 house 2268 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:46:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:46:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:50:23 INFO: [Worker 0] Worker 0 house 2268 episode 0 object bowl_050ccb7961f5339621100e94a140a4e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:50:28 INFO: [Worker 0] Batching and saving trajectory data for house_2268: 1 episodes [pipeline.py: 233] +05/25 16:50:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:50:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:50:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2268 [save_utils.py: 703] +05/25 16:50:32 INFO: [Worker 0] Successfully saved trajectory data for house_2268 in 3.70s (batch: 3.49s, save: 0.21s) [pipeline.py: 280] +05/25 16:50:33 WARNING: [Worker 0] No trajectory data to save for house_2268 [pipeline.py: 229] +05/25 16:50:33 INFO: [Worker 0] Worker 0 completed house 2268: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:50:33 INFO: [Worker 0] Worker 0 starting house 2315 (index 40/112) [pipeline.py: 473] +05/25 16:50:33 INFO: [Worker 0] Loaded 1 episodes for house 2315 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:50:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:50:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 16:50:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/25 16:50:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f486de07c6f347588bcd3d22456f328d [json_eval_task_sampler.py: 648] +05/25 16:50:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2315_ceiling.xml [task_sampler.py: 797] +05/25 16:50:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2315, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:50:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:50:45 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/25 16:50:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:50:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:50:45 INFO: [Worker 0] Sampled task 'Pick up the metal spring and place it in or on the white tray with compartments' [task_sampler.py: 1136] +05/25 16:50:45 INFO: [Worker 0] Worker 0 house 2315 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:50:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:50:46 WARNING: [Worker 0] Could not find object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_9 in scene [object_manager.py: 1238] +05/25 16:57:36 INFO: [Worker 0] Worker 0 house 2315 episode 0 object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 16:57:42 INFO: [Worker 0] Batching and saving trajectory data for house_2315: 1 episodes [pipeline.py: 233] +05/25 16:57:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:57:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:57:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2315 [save_utils.py: 703] +05/25 16:57:45 INFO: [Worker 0] Successfully saved trajectory data for house_2315 in 3.65s (batch: 3.49s, save: 0.16s) [pipeline.py: 280] +05/25 16:57:46 WARNING: [Worker 0] No trajectory data to save for house_2315 [pipeline.py: 229] +05/25 16:57:46 INFO: [Worker 0] Worker 0 completed house 2315: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:57:46 INFO: [Worker 0] Worker 0 starting house 2358 (index 41/112) [pipeline.py: 473] +05/25 16:57:46 INFO: [Worker 0] Loaded 1 episodes for house 2358 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 16:57:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:57:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 16:57:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/25 16:57:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/25 16:57:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2358_ceiling.xml [task_sampler.py: 797] +05/25 16:57:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2358, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:57:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:57:54 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 16:57:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:57:54 INFO: [Worker 0] Sampled task 'Pick up the remote control and place it in or on the polygonal bowl with green stripes' [task_sampler.py: 1136] +05/25 16:57:54 INFO: [Worker 0] Worker 0 house 2358 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:57:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:57:55 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene [object_manager.py: 1238] +05/25 16:57:55 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene [object_manager.py: 1238] +05/25 16:57:55 WARNING: [Worker 0] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_7 in scene [object_manager.py: 1238] +05/25 16:57:55 WARNING: [Worker 0] Could not find object Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_8 in scene [object_manager.py: 1238] +05/25 17:04:00 INFO: [Worker 0] Worker 0 house 2358 episode 0 object objaremotecontrol_5a55cb61df1f4a5da29a985b2dd96105_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 17:04:04 INFO: [Worker 0] Batching and saving trajectory data for house_2358: 1 episodes [pipeline.py: 233] +05/25 17:04:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:04:06 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2358 [save_utils.py: 703] +05/25 17:04:06 INFO: [Worker 0] Successfully saved trajectory data for house_2358 in 2.70s (batch: 2.58s, save: 0.12s) [pipeline.py: 280] +05/25 17:04:07 WARNING: [Worker 0] No trajectory data to save for house_2358 [pipeline.py: 229] +05/25 17:04:07 INFO: [Worker 0] Worker 0 completed house 2358: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:04:07 INFO: [Worker 0] Worker 0 starting house 2385 (index 42/112) [pipeline.py: 473] +05/25 17:04:07 INFO: [Worker 0] Loaded 1 episodes for house 2385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:04:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:04:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 17:04:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 17:04:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 17:04:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2385_ceiling.xml [task_sampler.py: 797] +05/25 17:04:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2385, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:04:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:04:12 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 17:04:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:04:12 INFO: [Worker 0] Sampled task 'Pick up the gender symbol and place it in or on the sculptural bowl with earthy texture' [task_sampler.py: 1136] +05/25 17:04:12 INFO: [Worker 0] Worker 0 house 2385 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:04:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:04:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:12:22 INFO: [Worker 0] Worker 0 house 2385 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 17:12:26 INFO: [Worker 0] Batching and saving trajectory data for house_2385: 1 episodes [pipeline.py: 233] +05/25 17:12:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:12:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:12:29 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2385 [save_utils.py: 703] +05/25 17:12:29 INFO: [Worker 0] Successfully saved trajectory data for house_2385 in 2.87s (batch: 2.75s, save: 0.11s) [pipeline.py: 280] +05/25 17:12:29 WARNING: [Worker 0] No trajectory data to save for house_2385 [pipeline.py: 229] +05/25 17:12:29 INFO: [Worker 0] Worker 0 completed house 2385: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:12:29 INFO: [Worker 0] Worker 0 starting house 2442 (index 43/112) [pipeline.py: 473] +05/25 17:12:29 INFO: [Worker 0] Loaded 1 episodes for house 2442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:12:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:12:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6 [json_eval_task_sampler.py: 648] +05/25 17:12:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/25 17:12:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667 [json_eval_task_sampler.py: 648] +05/25 17:12:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2442_ceiling.xml [task_sampler.py: 797] +05/25 17:12:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2442, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:12:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:12:35 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 17:12:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:12:35 INFO: [Worker 0] Sampled task 'Pick up the bronze knocker and place it in or on the golden ornate decorative bowl' [task_sampler.py: 1136] +05/25 17:12:35 INFO: [Worker 0] Worker 0 house 2442 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:12:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:17:21 INFO: [Worker 0] Worker 0 house 2442 episode 0 object objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 17:17:25 INFO: [Worker 0] Batching and saving trajectory data for house_2442: 1 episodes [pipeline.py: 233] +05/25 17:17:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:17:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:17:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2442 [save_utils.py: 703] +05/25 17:17:28 INFO: [Worker 0] Successfully saved trajectory data for house_2442 in 3.45s (batch: 3.26s, save: 0.19s) [pipeline.py: 280] +05/25 17:17:29 WARNING: [Worker 0] No trajectory data to save for house_2442 [pipeline.py: 229] +05/25 17:17:29 INFO: [Worker 0] Worker 0 completed house 2442: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:17:29 INFO: [Worker 0] Worker 0 starting house 2469 (index 44/112) [pipeline.py: 473] +05/25 17:17:29 INFO: [Worker 0] Loaded 1 episodes for house 2469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:17:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:17:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 17:17:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5c5c3b9ae7874b709c10ac57dad33195 [json_eval_task_sampler.py: 648] +05/25 17:17:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7b3bfdab414148a08cbf46fc105e280a [json_eval_task_sampler.py: 648] +05/25 17:17:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2469_ceiling.xml [task_sampler.py: 797] +05/25 17:17:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2469, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:17:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:17:34 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/25 17:17:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:17:35 INFO: [Worker 0] Sampled task 'Pick up the white rectangular electronic security keypad and place it in or on the textured ceramic bowl with colors' [task_sampler.py: 1136] +05/25 17:17:35 INFO: [Worker 0] Worker 0 house 2469 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:17:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:17:35 WARNING: [Worker 0] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_5 in scene [object_manager.py: 1238] +05/25 17:17:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:23:07 INFO: [Worker 0] Worker 0 house 2469 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:23:13 INFO: [Worker 0] Batching and saving trajectory data for house_2469: 1 episodes [pipeline.py: 233] +05/25 17:23:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:23:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:23:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2469 [save_utils.py: 703] +05/25 17:23:18 INFO: [Worker 0] Successfully saved trajectory data for house_2469 in 4.65s (batch: 4.37s, save: 0.27s) [pipeline.py: 280] +05/25 17:23:19 WARNING: [Worker 0] No trajectory data to save for house_2469 [pipeline.py: 229] +05/25 17:23:19 INFO: [Worker 0] Worker 0 completed house 2469: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:23:19 INFO: [Worker 0] Worker 0 starting house 2502 (index 45/112) [pipeline.py: 473] +05/25 17:23:19 INFO: [Worker 0] Loaded 2 episodes for house 2502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:23:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:23:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/25 17:23:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/25 17:23:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 17:23:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2502_ceiling.xml [task_sampler.py: 797] +05/25 17:23:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:23:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:23:28 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 17:23:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:23:28 INFO: [Worker 0] Sampled task 'Pick up the cylindrical vintage metal sharpener and place it in or on the glossy ceramic bowl' [task_sampler.py: 1136] +05/25 17:23:28 INFO: [Worker 0] Worker 0 house 2502 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 17:23:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:23:29 WARNING: [Worker 0] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene [object_manager.py: 1238] +05/25 17:23:29 WARNING: [Worker 0] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene [object_manager.py: 1238] +05/25 17:29:37 INFO: [Worker 0] Worker 0 house 2502 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_2_0_4 completed with success=False [pipeline.py: 1114] +05/25 17:29:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/25 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/25 17:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 17:30:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2502_ceiling.xml [task_sampler.py: 797] +05/25 17:30:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:30:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:30:12 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 17:30:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:30:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:30:12 INFO: [Worker 0] Sampled task 'Pick up the colorful geometric molecular model toy and place it in or on the handmade ceramic bowl' [task_sampler.py: 1136] +05/25 17:30:12 INFO: [Worker 0] Worker 0 house 2502 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 17:30:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:30:13 WARNING: [Worker 0] Could not find object objaplushtoy_f08a0ca0ca13418fa5dec0b11df9cb82_1_0_3 in scene [object_manager.py: 1238] +05/25 17:30:13 WARNING: [Worker 0] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_3 in scene [object_manager.py: 1238] +05/25 17:35:07 INFO: [Worker 0] Worker 0 house 2502 episode 1 object objaeducationaltoy_3d86ad3a43be4e7faf00336577c4edd3_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 17:35:11 INFO: [Worker 0] Batching and saving trajectory data for house_2502: 2 episodes [pipeline.py: 233] +05/25 17:35:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:35:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:35:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:35:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:35:17 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2502 [save_utils.py: 703] +05/25 17:35:17 INFO: [Worker 0] Successfully saved trajectory data for house_2502 in 5.94s (batch: 5.67s, save: 0.27s) [pipeline.py: 280] +05/25 17:35:18 WARNING: [Worker 0] No trajectory data to save for house_2502 [pipeline.py: 229] +05/25 17:35:18 INFO: [Worker 0] Worker 0 completed house 2502: 0/2 successful episodes [pipeline.py: 1243] +05/25 17:35:18 INFO: [Worker 0] Worker 0 starting house 2523 (index 46/112) [pipeline.py: 473] +05/25 17:35:18 INFO: [Worker 0] Loaded 1 episodes for house 2523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:35:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:35:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 17:35:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/25 17:35:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 17:35:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2523_ceiling.xml [task_sampler.py: 797] +05/25 17:35:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2523, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:35:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:35:24 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/25 17:35:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:35:24 INFO: [Worker 0] Sampled task 'Pick up the jewelry box and place it in or on the medium smooth gray bowl' [task_sampler.py: 1136] +05/25 17:35:24 INFO: [Worker 0] Worker 0 house 2523 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:35:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:35:24 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_3 in scene [object_manager.py: 1238] +05/25 17:35:24 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_3 in scene [object_manager.py: 1238] +05/25 17:35:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:40:06 INFO: [Worker 0] Worker 0 house 2523 episode 0 object objajewelrybox_d38d887c6c8940e19035dd0d590483d8_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 17:40:11 INFO: [Worker 0] Batching and saving trajectory data for house_2523: 1 episodes [pipeline.py: 233] +05/25 17:40:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:40:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:40:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2523 [save_utils.py: 703] +05/25 17:40:14 INFO: [Worker 0] Successfully saved trajectory data for house_2523 in 3.71s (batch: 3.55s, save: 0.16s) [pipeline.py: 280] +05/25 17:40:15 WARNING: [Worker 0] No trajectory data to save for house_2523 [pipeline.py: 229] +05/25 17:40:15 INFO: [Worker 0] Worker 0 completed house 2523: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:40:15 INFO: [Worker 0] Worker 0 starting house 2575 (index 47/112) [pipeline.py: 473] +05/25 17:40:15 INFO: [Worker 0] Loaded 1 episodes for house 2575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:40:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:40:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/25 17:40:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/25 17:40:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 17:40:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2575_ceiling.xml [task_sampler.py: 797] +05/25 17:40:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2575, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:40:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:40:27 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/25 17:40:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:40:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:40:27 INFO: [Worker 0] Sampled task 'Pick up the decorative metal medallion with crown and place it in or on the stone bowl with crystals' [task_sampler.py: 1136] +05/25 17:40:27 INFO: [Worker 0] Worker 0 house 2575 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:40:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:40:28 WARNING: [Worker 0] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_2_0_5 in scene [object_manager.py: 1238] +05/25 17:40:28 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/25 17:40:28 WARNING: [Worker 0] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_9 in scene [object_manager.py: 1238] +05/25 17:40:28 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene [object_manager.py: 1238] +05/25 17:40:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:47:11 INFO: [Worker 0] Worker 0 house 2575 episode 0 object objamedallion_0f1a85c550fb433bb28c10f4e740d7d1_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:47:15 INFO: [Worker 0] Batching and saving trajectory data for house_2575: 1 episodes [pipeline.py: 233] +05/25 17:47:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:47:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2575 [save_utils.py: 703] +05/25 17:47:18 INFO: [Worker 0] Successfully saved trajectory data for house_2575 in 3.43s (batch: 3.15s, save: 0.28s) [pipeline.py: 280] +05/25 17:47:19 WARNING: [Worker 0] No trajectory data to save for house_2575 [pipeline.py: 229] +05/25 17:47:19 INFO: [Worker 0] Worker 0 completed house 2575: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:47:19 INFO: [Worker 0] Worker 0 starting house 2621 (index 48/112) [pipeline.py: 473] +05/25 17:47:19 INFO: [Worker 0] Loaded 1 episodes for house 2621 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:47:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:47:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4058303001a4878bbe5c3f248dedd78 [json_eval_task_sampler.py: 648] +05/25 17:47:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/25 17:47:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_20 [json_eval_task_sampler.py: 648] +05/25 17:47:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2621_ceiling.xml [task_sampler.py: 797] +05/25 17:47:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2621, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:47:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:47:29 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 17:47:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:47:29 INFO: [Worker 0] Sampled task 'Pick up the stylized colorful dagger with green blade and place it in or on the dark shallow round bowl with contrast' [task_sampler.py: 1136] +05/25 17:47:29 INFO: [Worker 0] Worker 0 house 2621 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:47:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:53:46 INFO: [Worker 0] Worker 0 house 2621 episode 0 object objatoydagger_d395c5d7374d4fa285a9840bd1add634_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 17:53:50 INFO: [Worker 0] Batching and saving trajectory data for house_2621: 1 episodes [pipeline.py: 233] +05/25 17:53:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:53:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:53:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2621 [save_utils.py: 703] +05/25 17:53:54 INFO: [Worker 0] Successfully saved trajectory data for house_2621 in 3.40s (batch: 3.22s, save: 0.19s) [pipeline.py: 280] +05/25 17:53:54 WARNING: [Worker 0] No trajectory data to save for house_2621 [pipeline.py: 229] +05/25 17:53:54 INFO: [Worker 0] Worker 0 completed house 2621: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:53:54 INFO: [Worker 0] Worker 0 starting house 2666 (index 49/112) [pipeline.py: 473] +05/25 17:53:54 INFO: [Worker 0] Loaded 1 episodes for house 2666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 17:53:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:53:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/25 17:53:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/25 17:53:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 17:54:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2666_ceiling.xml [task_sampler.py: 797] +05/25 17:54:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2666, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:54:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:54:01 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 17:54:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:54:01 INFO: [Worker 0] Sampled task 'Pick up the gavel with brown handle and brass and place it in or on the rustic gray stone bowl with seams' [task_sampler.py: 1136] +05/25 17:54:01 INFO: [Worker 0] Worker 0 house 2666 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:54:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:54:02 WARNING: [Worker 0] Could not find object objatablet_c3be18230f83414e8b98d7248043c4d4_1_0_5 in scene [object_manager.py: 1238] +05/25 17:56:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:04:40 INFO: [Worker 0] Worker 0 house 2666 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 18:04:45 INFO: [Worker 0] Batching and saving trajectory data for house_2666: 1 episodes [pipeline.py: 233] +05/25 18:04:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:04:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:04:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2666 [save_utils.py: 703] +05/25 18:04:49 INFO: [Worker 0] Successfully saved trajectory data for house_2666 in 3.79s (batch: 3.63s, save: 0.16s) [pipeline.py: 280] +05/25 18:04:49 WARNING: [Worker 0] No trajectory data to save for house_2666 [pipeline.py: 229] +05/25 18:04:49 INFO: [Worker 0] Worker 0 completed house 2666: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:04:49 INFO: [Worker 0] Worker 0 starting house 2740 (index 50/112) [pipeline.py: 473] +05/25 18:04:49 INFO: [Worker 0] Loaded 1 episodes for house 2740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 18:04:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:05:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 18:05:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/53c885e05492439cace4cc626fec00cc [json_eval_task_sampler.py: 648] +05/25 18:05:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/25 18:05:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2740_ceiling.xml [task_sampler.py: 797] +05/25 18:05:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2740, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:05:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:05:08 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 18:05:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:05:08 INFO: [Worker 0] Sampled task 'Pick up the white ceramic teacup with handle and place it in or on the rustic round clay bowl with cracks' [task_sampler.py: 1136] +05/25 18:05:08 INFO: [Worker 0] Worker 0 house 2740 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:05:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:05:09 WARNING: [Worker 0] Could not find object objasneaker_ae4a2914d4884f58bcb06be2b658c23e_1_0_5 in scene [object_manager.py: 1238] +05/25 18:05:09 WARNING: [Worker 0] Could not find object objalighter_d69a89aaec024c398a2cd2040ee739df_1_0_5 in scene [object_manager.py: 1238] +05/25 18:08:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:14:08 INFO: [Worker 0] Worker 0 house 2740 episode 0 object objateacup_44651f3242bb42bfbc27c7205ff609ce_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 18:14:13 INFO: [Worker 0] Batching and saving trajectory data for house_2740: 1 episodes [pipeline.py: 233] +05/25 18:14:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:14:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:14:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2740 [save_utils.py: 703] +05/25 18:14:17 INFO: [Worker 0] Successfully saved trajectory data for house_2740 in 3.24s (batch: 3.09s, save: 0.15s) [pipeline.py: 280] +05/25 18:14:18 WARNING: [Worker 0] No trajectory data to save for house_2740 [pipeline.py: 229] +05/25 18:14:18 INFO: [Worker 0] Worker 0 completed house 2740: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:14:18 INFO: [Worker 0] Worker 0 starting house 2779 (index 51/112) [pipeline.py: 473] +05/25 18:14:18 INFO: [Worker 0] Loaded 1 episodes for house 2779 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 18:14:18 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] +05/25 18:14:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/25 18:14:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 18:14:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 18:14:26 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 18:14:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2779_ceiling.xml [task_sampler.py: 797] +05/25 18:14:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2779, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:14:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:14:33 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/25 18:14:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:14:33 INFO: [Worker 0] Sampled task 'Pick up the mobile phone and place it in or on the weathered gray cracked stone bowl' [task_sampler.py: 1136] +05/25 18:14:33 INFO: [Worker 0] Worker 0 house 2779 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:14:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:14:34 WARNING: [Worker 0] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_5 in scene [object_manager.py: 1238] +05/25 18:14:34 WARNING: [Worker 0] Could not find object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5 in scene [object_manager.py: 1238] +05/25 18:14:34 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/25 18:14:34 WARNING: [Worker 0] Could not find object objamedicaldevice_dc96f90daab343c8be5c20f306554f7b_1_0_9 in scene [object_manager.py: 1238] +05/25 18:14:34 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene [object_manager.py: 1238] +05/25 18:14:34 WARNING: [Worker 0] Could not find object atomizer_834d386e080077accc22e6eae5471528_2_0_9 in scene [object_manager.py: 1238] +05/25 18:26:06 INFO: [Worker 0] Worker 0 house 2779 episode 0 object objamobilephone_c0eebdca64f94fdbbd770e6e1bb142c1_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 18:26:10 INFO: [Worker 0] Batching and saving trajectory data for house_2779: 1 episodes [pipeline.py: 233] +05/25 18:26:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:26:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2779 [save_utils.py: 703] +05/25 18:26:14 INFO: [Worker 0] Successfully saved trajectory data for house_2779 in 4.05s (batch: 3.81s, save: 0.24s) [pipeline.py: 280] +05/25 18:26:15 WARNING: [Worker 0] No trajectory data to save for house_2779 [pipeline.py: 229] +05/25 18:26:15 INFO: [Worker 0] Worker 0 completed house 2779: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:26:15 INFO: [Worker 0] Worker 0 starting house 2830 (index 52/112) [pipeline.py: 473] +05/25 18:26:15 INFO: [Worker 0] Loaded 1 episodes for house 2830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 18:26:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:26:17 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/25 18:26:17 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/71c1d24834ca4725963d69d5bb0a5011 [json_eval_task_sampler.py: 648] +05/25 18:26:17 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/589cc33e26134e808392ac3e956ba868 [json_eval_task_sampler.py: 648] +05/25 18:26:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2830_ceiling.xml [task_sampler.py: 797] +05/25 18:26:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2830, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:26:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:26:22 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 18:26:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:26:22 INFO: [Worker 0] Sampled task 'Pick up the garden shears with wood handles and place it in or on the rustic round clay dish with handles' [task_sampler.py: 1136] +05/25 18:26:22 INFO: [Worker 0] Worker 0 house 2830 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:26:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:29:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:34:25 INFO: [Worker 0] Worker 0 house 2830 episode 0 object objagardenshears_17e070256cba409b96b4d7c152b317a6_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 18:34:30 INFO: [Worker 0] Batching and saving trajectory data for house_2830: 1 episodes [pipeline.py: 233] +05/25 18:34:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:34:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:34:34 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2830 [save_utils.py: 703] +05/25 18:34:34 INFO: [Worker 0] Successfully saved trajectory data for house_2830 in 4.09s (batch: 3.77s, save: 0.31s) [pipeline.py: 280] +05/25 18:34:35 WARNING: [Worker 0] No trajectory data to save for house_2830 [pipeline.py: 229] +05/25 18:34:35 INFO: [Worker 0] Worker 0 completed house 2830: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:34:35 INFO: [Worker 0] Worker 0 starting house 2844 (index 53/112) [pipeline.py: 473] +05/25 18:34:35 INFO: [Worker 0] Loaded 2 episodes for house 2844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 18:34:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:34:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/25 18:34:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 18:34:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 18:34:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2844_ceiling.xml [task_sampler.py: 797] +05/25 18:34:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2844, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:34:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:34:48 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 18:34:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:34:48 INFO: [Worker 0] Sampled task 'Pick up the red pliers and place it in or on the light gray shallow round bowl' [task_sampler.py: 1136] +05/25 18:34:48 INFO: [Worker 0] Worker 0 house 2844 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 18:34:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:34:49 WARNING: [Worker 0] Could not find object objaeyemodel_b16a760838ea466980afffa77cee6eab_1_0_2 in scene [object_manager.py: 1238] +05/25 18:34:49 WARNING: [Worker 0] Could not find object objaportablecdplayer_c8095679e652455594bf70d6bea2c081_2_0_2 in scene [object_manager.py: 1238] +05/25 18:36:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:45:50 INFO: [Worker 0] Worker 0 house 2844 episode 0 object objapliers_6ac0575a12d7494793fad7ae8ae8f6fe_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 18:45:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:45:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/25 18:45:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 18:45:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 18:46:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2844_ceiling.xml [task_sampler.py: 797] +05/25 18:46:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2844, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:46:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:46:00 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 18:46:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:46:00 INFO: [Worker 0] Sampled task 'Pick up the rectangular vintage radio with antenna and place it in or on the light gray shallow round bowl' [task_sampler.py: 1136] +05/25 18:46:00 INFO: [Worker 0] Worker 0 house 2844 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 18:46:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:46:01 WARNING: [Worker 0] Could not find object objaeyemodel_b16a760838ea466980afffa77cee6eab_1_0_2 in scene [object_manager.py: 1238] +05/25 18:46:01 WARNING: [Worker 0] Could not find object objaportablecdplayer_c8095679e652455594bf70d6bea2c081_2_0_2 in scene [object_manager.py: 1238] +05/25 18:49:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:59:10 INFO: [Worker 0] Worker 0 house 2844 episode 1 object objaradio_92f4907a66044fd3b778064e6096e08b_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 18:59:16 INFO: [Worker 0] Batching and saving trajectory data for house_2844: 2 episodes [pipeline.py: 233] +05/25 18:59:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:59:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:59:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:59:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:59:25 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2844 [save_utils.py: 703] +05/25 18:59:25 INFO: [Worker 0] Successfully saved trajectory data for house_2844 in 8.64s (batch: 8.14s, save: 0.50s) [pipeline.py: 280] +05/25 18:59:26 WARNING: [Worker 0] No trajectory data to save for house_2844 [pipeline.py: 229] +05/25 18:59:26 INFO: [Worker 0] Worker 0 completed house 2844: 0/2 successful episodes [pipeline.py: 1243] +05/25 18:59:26 INFO: [Worker 0] Worker 0 starting house 2883 (index 54/112) [pipeline.py: 473] +05/25 18:59:26 INFO: [Worker 0] Loaded 1 episodes for house 2883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 18:59:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:59:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/53c885e05492439cace4cc626fec00cc [json_eval_task_sampler.py: 648] +05/25 18:59:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d8bcf6509a5d40378f2baec03bf551a5 [json_eval_task_sampler.py: 648] +05/25 18:59:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/589cc33e26134e808392ac3e956ba868 [json_eval_task_sampler.py: 648] +05/25 18:59:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2883_ceiling.xml [task_sampler.py: 797] +05/25 18:59:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2883, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:59:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:59:32 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/25 18:59:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:59:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:59:33 INFO: [Worker 0] Sampled task 'Pick up the black high heel sandal with straps and place it in or on the rustic clay bowl' [task_sampler.py: 1136] +05/25 18:59:33 INFO: [Worker 0] Worker 0 house 2883 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:59:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:02:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:08:18 INFO: [Worker 0] Worker 0 house 2883 episode 0 object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 19:08:23 INFO: [Worker 0] Batching and saving trajectory data for house_2883: 1 episodes [pipeline.py: 233] +05/25 19:08:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:08:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:08:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2883 [save_utils.py: 703] +05/25 19:08:27 INFO: [Worker 0] Successfully saved trajectory data for house_2883 in 4.24s (batch: 3.89s, save: 0.34s) [pipeline.py: 280] +05/25 19:08:28 WARNING: [Worker 0] No trajectory data to save for house_2883 [pipeline.py: 229] +05/25 19:08:28 INFO: [Worker 0] Worker 0 completed house 2883: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:08:28 INFO: [Worker 0] Worker 0 starting house 2962 (index 55/112) [pipeline.py: 473] +05/25 19:08:28 INFO: [Worker 0] Loaded 1 episodes for house 2962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:08:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:08:53 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 19:08:53 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/25 19:08:53 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/934bd78c490140198db542aee7f765fa [json_eval_task_sampler.py: 648] +05/25 19:08:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2962_ceiling.xml [task_sampler.py: 797] +05/25 19:08:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2962, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:08:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:08:57 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/25 19:08:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:08:57 INFO: [Worker 0] Sampled task 'Pick up the handheld white and orange tape dispenser and place it in or on the dark bowl' [task_sampler.py: 1136] +05/25 19:08:57 INFO: [Worker 0] Worker 0 house 2962 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:08:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:08:58 WARNING: [Worker 0] Could not find object objadisplayplaque_0c1964c6028d4bf18aad8391cc551f21_1_0_7 in scene [object_manager.py: 1238] +05/25 19:08:58 WARNING: [Worker 0] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7 in scene [object_manager.py: 1238] +05/25 19:10:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:15:12 INFO: [Worker 0] Worker 0 house 2962 episode 0 object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 19:15:16 INFO: [Worker 0] Batching and saving trajectory data for house_2962: 1 episodes [pipeline.py: 233] +05/25 19:15:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:15:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:15:19 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2962 [save_utils.py: 703] +05/25 19:15:19 INFO: [Worker 0] Successfully saved trajectory data for house_2962 in 3.02s (batch: 2.90s, save: 0.12s) [pipeline.py: 280] +05/25 19:15:20 WARNING: [Worker 0] No trajectory data to save for house_2962 [pipeline.py: 229] +05/25 19:15:20 INFO: [Worker 0] Worker 0 completed house 2962: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:15:20 INFO: [Worker 0] Worker 0 starting house 3052 (index 56/112) [pipeline.py: 473] +05/25 19:15:20 INFO: [Worker 0] Loaded 1 episodes for house 3052 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:15:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f486de07c6f347588bcd3d22456f328d [json_eval_task_sampler.py: 648] +05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f42af504c27649c78412bafd25665e46 [json_eval_task_sampler.py: 648] +05/25 19:15:32 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 19:15:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3052_ceiling.xml [task_sampler.py: 797] +05/25 19:15:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3052, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:15:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:15:35 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/25 19:15:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:15:36 INFO: [Worker 0] Sampled task 'Pick up the shackle and place it in or on the decorative pink geometric pattern box' [task_sampler.py: 1136] +05/25 19:15:36 INFO: [Worker 0] Worker 0 house 3052 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:15:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:15:36 WARNING: [Worker 0] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene [object_manager.py: 1238] +05/25 19:17:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:22:12 INFO: [Worker 0] Worker 0 house 3052 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 19:22:17 INFO: [Worker 0] Batching and saving trajectory data for house_3052: 1 episodes [pipeline.py: 233] +05/25 19:22:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:22:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:22:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3052 [save_utils.py: 703] +05/25 19:22:21 INFO: [Worker 0] Successfully saved trajectory data for house_3052 in 3.80s (batch: 3.63s, save: 0.17s) [pipeline.py: 280] +05/25 19:22:21 WARNING: [Worker 0] No trajectory data to save for house_3052 [pipeline.py: 229] +05/25 19:22:21 INFO: [Worker 0] Worker 0 completed house 3052: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:22:21 INFO: [Worker 0] Worker 0 starting house 3109 (index 57/112) [pipeline.py: 473] +05/25 19:22:21 INFO: [Worker 0] Loaded 1 episodes for house 3109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:22:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:22:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_17 [json_eval_task_sampler.py: 648] +05/25 19:22:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4bf7b7b26a704818b1ed3d703a11855b [json_eval_task_sampler.py: 648] +05/25 19:22:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/25 19:22:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3109_ceiling.xml [task_sampler.py: 797] +05/25 19:22:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3109, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:22:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:22:30 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/25 19:22:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:22:30 INFO: [Worker 0] Sampled task 'Pick up the red lighthouse with lattice framework and place it in or on the compact brown medical case with cross' [task_sampler.py: 1136] +05/25 19:22:30 INFO: [Worker 0] Worker 0 house 3109 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:22:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:25:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:29:44 INFO: [Worker 0] Worker 0 house 3109 episode 0 object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 19:29:49 INFO: [Worker 0] Batching and saving trajectory data for house_3109: 1 episodes [pipeline.py: 233] +05/25 19:29:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:29:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:29:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3109 [save_utils.py: 703] +05/25 19:29:53 INFO: [Worker 0] Successfully saved trajectory data for house_3109 in 3.64s (batch: 3.48s, save: 0.16s) [pipeline.py: 280] +05/25 19:29:53 WARNING: [Worker 0] No trajectory data to save for house_3109 [pipeline.py: 229] +05/25 19:29:53 INFO: [Worker 0] Worker 0 completed house 3109: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:29:53 INFO: [Worker 0] Worker 0 starting house 3130 (index 58/112) [pipeline.py: 473] +05/25 19:29:53 INFO: [Worker 0] Loaded 2 episodes for house 3130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:29:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:30:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 19:30:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 19:30:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 19:30:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3130_ceiling.xml [task_sampler.py: 797] +05/25 19:30:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3130, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:30:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:30:10 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 19:30:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:30:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:30:10 INFO: [Worker 0] Sampled task 'Pick up the blue spraypaint and place it in or on the round rustic bowl' [task_sampler.py: 1136] +05/25 19:30:10 INFO: [Worker 0] Worker 0 house 3130 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 19:30:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:32:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:39:26 INFO: [Worker 0] Worker 0 house 3130 episode 0 object objaspraypaintcan_f22eafd754a04723a0f323b9e4ee47a1_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:39:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:39:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 19:39:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 19:39:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 19:39:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3130_ceiling.xml [task_sampler.py: 797] +05/25 19:39:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3130, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:39:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:39:38 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 19:39:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:39:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:39:38 INFO: [Worker 0] Sampled task 'Pick up the ancient green metal axe and place it in or on the rough gray stone bowl' [task_sampler.py: 1136] +05/25 19:39:38 INFO: [Worker 0] Worker 0 house 3130 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 19:39:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:42:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:49:42 INFO: [Worker 0] Worker 0 house 3130 episode 1 object objaantiquetool_2ecb104cc7284c62bb92d4d8068ce160_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 19:49:47 INFO: [Worker 0] Batching and saving trajectory data for house_3130: 2 episodes [pipeline.py: 233] +05/25 19:49:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:49:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:49:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:49:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:49:56 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3130 [save_utils.py: 703] +05/25 19:49:56 INFO: [Worker 0] Successfully saved trajectory data for house_3130 in 8.52s (batch: 8.05s, save: 0.48s) [pipeline.py: 280] +05/25 19:49:57 WARNING: [Worker 0] No trajectory data to save for house_3130 [pipeline.py: 229] +05/25 19:49:57 INFO: [Worker 0] Worker 0 completed house 3130: 0/2 successful episodes [pipeline.py: 1243] +05/25 19:49:57 INFO: [Worker 0] Worker 0 starting house 3139 (index 59/112) [pipeline.py: 473] +05/25 19:49:57 INFO: [Worker 0] Loaded 1 episodes for house 3139 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:49:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:50:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_25 [json_eval_task_sampler.py: 648] +05/25 19:50:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 19:50:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/25 19:50:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3139_ceiling.xml [task_sampler.py: 797] +05/25 19:50:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3139, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:50:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:50:14 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 19:50:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:50:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:50:14 INFO: [Worker 0] Sampled task 'Pick up the rusty metal rail with notches and place it in or on the white square bowl' [task_sampler.py: 1136] +05/25 19:50:14 INFO: [Worker 0] Worker 0 house 3139 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:50:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:57:54 INFO: [Worker 0] Worker 0 house 3139 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 19:57:58 INFO: [Worker 0] Batching and saving trajectory data for house_3139: 1 episodes [pipeline.py: 233] +05/25 19:57:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:58:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:58:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3139 [save_utils.py: 703] +05/25 19:58:01 INFO: [Worker 0] Successfully saved trajectory data for house_3139 in 2.86s (batch: 2.74s, save: 0.12s) [pipeline.py: 280] +05/25 19:58:02 WARNING: [Worker 0] No trajectory data to save for house_3139 [pipeline.py: 229] +05/25 19:58:02 INFO: [Worker 0] Worker 0 completed house 3139: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:58:02 INFO: [Worker 0] Worker 0 starting house 3240 (index 60/112) [pipeline.py: 473] +05/25 19:58:02 INFO: [Worker 0] Loaded 1 episodes for house 3240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 19:58:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:58:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/25 19:58:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27 [json_eval_task_sampler.py: 648] +05/25 19:58:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/25 19:58:26 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 19:58:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3240_ceiling.xml [task_sampler.py: 797] +05/25 19:58:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3240, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:58:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:58:30 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/25 19:58:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:58:30 INFO: [Worker 0] Sampled task 'Pick up the yellow vintage soap bar with portrait and place it in or on the hand-painted insect bowl' [task_sampler.py: 1136] +05/25 19:58:30 INFO: [Worker 0] Worker 0 house 3240 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:58:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:58:31 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene [object_manager.py: 1238] +05/25 20:00:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:06:22 INFO: [Worker 0] Worker 0 house 3240 episode 0 object objasoap_9bc320bcb7684917b19589e218887f1b_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 20:06:28 INFO: [Worker 0] Batching and saving trajectory data for house_3240: 1 episodes [pipeline.py: 233] +05/25 20:06:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:06:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:06:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3240 [save_utils.py: 703] +05/25 20:06:32 INFO: [Worker 0] Successfully saved trajectory data for house_3240 in 3.99s (batch: 3.78s, save: 0.20s) [pipeline.py: 280] +05/25 20:06:33 WARNING: [Worker 0] No trajectory data to save for house_3240 [pipeline.py: 229] +05/25 20:06:33 INFO: [Worker 0] Worker 0 completed house 3240: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:06:33 INFO: [Worker 0] Worker 0 starting house 3282 (index 61/112) [pipeline.py: 473] +05/25 20:06:33 INFO: [Worker 0] Loaded 1 episodes for house 3282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:06:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:06:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/25 20:06:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/25 20:06:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/25 20:06:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3282_ceiling.xml [task_sampler.py: 797] +05/25 20:06:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3282, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:06:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:06:42 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/25 20:06:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:06:43 INFO: [Worker 0] Sampled task 'Pick up the white ergonomic computer mouse with accents and place it in or on the round light colored ashtray' [task_sampler.py: 1136] +05/25 20:06:43 INFO: [Worker 0] Worker 0 house 3282 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:06:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:06:43 WARNING: [Worker 0] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_2_0_3 in scene [object_manager.py: 1238] +05/25 20:06:43 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene [object_manager.py: 1238] +05/25 20:10:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:17:51 INFO: [Worker 0] Worker 0 house 3282 episode 0 object objacomputermouse_564f507dd62a46f0a5560c26784f2794_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 20:17:58 INFO: [Worker 0] Batching and saving trajectory data for house_3282: 1 episodes [pipeline.py: 233] +05/25 20:17:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:18:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:18:02 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3282 [save_utils.py: 703] +05/25 20:18:02 INFO: [Worker 0] Successfully saved trajectory data for house_3282 in 4.40s (batch: 4.17s, save: 0.24s) [pipeline.py: 280] +05/25 20:18:03 WARNING: [Worker 0] No trajectory data to save for house_3282 [pipeline.py: 229] +05/25 20:18:03 INFO: [Worker 0] Worker 0 completed house 3282: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:18:03 INFO: [Worker 0] Worker 0 starting house 3315 (index 62/112) [pipeline.py: 473] +05/25 20:18:03 INFO: [Worker 0] Loaded 1 episodes for house 3315 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:18:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/25 20:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5 [json_eval_task_sampler.py: 648] +05/25 20:18:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/25 20:18:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3315_ceiling.xml [task_sampler.py: 797] +05/25 20:18:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3315, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:18:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:18:16 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/25 20:18:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:18:16 INFO: [Worker 0] Sampled task 'Pick up the matte black metal chain links and place it in or on the handmade rustic gray clay bowl' [task_sampler.py: 1136] +05/25 20:18:16 INFO: [Worker 0] Worker 0 house 3315 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:18:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:26:12 INFO: [Worker 0] Worker 0 house 3315 episode 0 object objachain_e028c056cd234ed981deac0da5e73167_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 20:26:16 INFO: [Worker 0] Batching and saving trajectory data for house_3315: 1 episodes [pipeline.py: 233] +05/25 20:26:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:26:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:26:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3315 [save_utils.py: 703] +05/25 20:26:18 INFO: [Worker 0] Successfully saved trajectory data for house_3315 in 2.68s (batch: 2.57s, save: 0.11s) [pipeline.py: 280] +05/25 20:26:19 WARNING: [Worker 0] No trajectory data to save for house_3315 [pipeline.py: 229] +05/25 20:26:19 INFO: [Worker 0] Worker 0 completed house 3315: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:26:19 INFO: [Worker 0] Worker 0 starting house 3347 (index 63/112) [pipeline.py: 473] +05/25 20:26:19 INFO: [Worker 0] Loaded 1 episodes for house 3347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:26:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:27:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d [json_eval_task_sampler.py: 648] +05/25 20:27:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_9 [json_eval_task_sampler.py: 648] +05/25 20:27:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/25 20:27:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3347_ceiling.xml [task_sampler.py: 797] +05/25 20:27:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3347, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:27:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:27:15 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 20:27:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:27:15 INFO: [Worker 0] Sampled task 'Pick up the gun suppressor and place it in or on the elegant blue bowl with gold rim' [task_sampler.py: 1136] +05/25 20:27:15 INFO: [Worker 0] Worker 0 house 3347 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:27:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:34:40 INFO: [Worker 0] Worker 0 house 3347 episode 0 object objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 20:34:44 INFO: [Worker 0] Batching and saving trajectory data for house_3347: 1 episodes [pipeline.py: 233] +05/25 20:34:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:34:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:34:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3347 [save_utils.py: 703] +05/25 20:34:47 INFO: [Worker 0] Successfully saved trajectory data for house_3347 in 2.74s (batch: 2.62s, save: 0.12s) [pipeline.py: 280] +05/25 20:34:47 WARNING: [Worker 0] No trajectory data to save for house_3347 [pipeline.py: 229] +05/25 20:34:47 INFO: [Worker 0] Worker 0 completed house 3347: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:34:47 INFO: [Worker 0] Worker 0 starting house 3389 (index 64/112) [pipeline.py: 473] +05/25 20:34:47 INFO: [Worker 0] Loaded 1 episodes for house 3389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:34:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:35:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 20:35:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 20:35:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/25 20:35:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3389_ceiling.xml [task_sampler.py: 797] +05/25 20:35:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3389, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:35:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:35:41 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/25 20:35:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:35:41 INFO: [Worker 0] Sampled task 'Pick up the gray vr headset with straps and place it in or on the asymmetrical ceramic bowl with blue-green glaze' [task_sampler.py: 1136] +05/25 20:35:41 INFO: [Worker 0] Worker 0 house 3389 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:35:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:35:42 WARNING: [Worker 0] Could not find object objaneonsign_3468b4f91d5046478a3875a1066e0df6_1_0_5 in scene [object_manager.py: 1238] +05/25 20:44:26 INFO: [Worker 0] Worker 0 house 3389 episode 0 object objavirtualrealityheadset_31e3f740d10149c8a764cb34b02edf15_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 20:44:30 INFO: [Worker 0] Batching and saving trajectory data for house_3389: 1 episodes [pipeline.py: 233] +05/25 20:44:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:44:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:44:34 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3389 [save_utils.py: 703] +05/25 20:44:34 INFO: [Worker 0] Successfully saved trajectory data for house_3389 in 3.70s (batch: 3.53s, save: 0.17s) [pipeline.py: 280] +05/25 20:44:35 WARNING: [Worker 0] No trajectory data to save for house_3389 [pipeline.py: 229] +05/25 20:44:35 INFO: [Worker 0] Worker 0 completed house 3389: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:44:35 INFO: [Worker 0] Worker 0 starting house 3442 (index 65/112) [pipeline.py: 473] +05/25 20:44:35 INFO: [Worker 0] Loaded 1 episodes for house 3442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:44:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:44:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/934bd78c490140198db542aee7f765fa [json_eval_task_sampler.py: 648] +05/25 20:44:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 20:44:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 20:45:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3442_ceiling.xml [task_sampler.py: 797] +05/25 20:45:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3442, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:45:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:45:03 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 20:45:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:45:03 INFO: [Worker 0] Sampled task 'Pick up the ratcheting pipe cutter and place it in or on the wide terracotta bowl' [task_sampler.py: 1136] +05/25 20:45:03 INFO: [Worker 0] Worker 0 house 3442 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:45:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:45:04 WARNING: [Worker 0] Could not find object objamodeljet_a067690ca5ba4734a6cecb51816c534f_1_0_8 in scene [object_manager.py: 1238] +05/25 20:45:04 WARNING: [Worker 0] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_8 in scene [object_manager.py: 1238] +05/25 20:46:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:51:22 INFO: [Worker 0] Worker 0 house 3442 episode 0 object objapipecutter_50b88a2361374aa3a8f8fec1447bb93b_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 20:51:28 INFO: [Worker 0] Batching and saving trajectory data for house_3442: 1 episodes [pipeline.py: 233] +05/25 20:51:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:51:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:51:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3442 [save_utils.py: 703] +05/25 20:51:32 INFO: [Worker 0] Successfully saved trajectory data for house_3442 in 4.41s (batch: 4.15s, save: 0.26s) [pipeline.py: 280] +05/25 20:51:33 WARNING: [Worker 0] No trajectory data to save for house_3442 [pipeline.py: 229] +05/25 20:51:33 INFO: [Worker 0] Worker 0 completed house 3442: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:51:33 INFO: [Worker 0] Worker 0 starting house 3485 (index 66/112) [pipeline.py: 473] +05/25 20:51:33 INFO: [Worker 0] Loaded 1 episodes for house 3485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 20:51:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/25 20:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/56dccb62700a4c04b42646e060c087f5 [json_eval_task_sampler.py: 648] +05/25 20:51:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/25 20:51:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3485_ceiling.xml [task_sampler.py: 797] +05/25 20:51:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3485, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:51:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:51:44 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/25 20:51:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:51:44 INFO: [Worker 0] Sampled task 'Pick up the pink cellphone and place it in or on the handmade rustic gray clay bowl' [task_sampler.py: 1136] +05/25 20:51:44 INFO: [Worker 0] Worker 0 house 3485 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:51:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:55:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:00:08 INFO: [Worker 0] Worker 0 house 3485 episode 0 object cellulartelephone_eebaa73634b56074933036e2a1bdf24c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 21:00:14 INFO: [Worker 0] Batching and saving trajectory data for house_3485: 1 episodes [pipeline.py: 233] +05/25 21:00:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:00:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:00:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3485 [save_utils.py: 703] +05/25 21:00:18 INFO: [Worker 0] Successfully saved trajectory data for house_3485 in 4.58s (batch: 4.29s, save: 0.29s) [pipeline.py: 280] +05/25 21:00:20 WARNING: [Worker 0] No trajectory data to save for house_3485 [pipeline.py: 229] +05/25 21:00:20 INFO: [Worker 0] Worker 0 completed house 3485: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:00:20 INFO: [Worker 0] Worker 0 starting house 3523 (index 67/112) [pipeline.py: 473] +05/25 21:00:20 INFO: [Worker 0] Loaded 1 episodes for house 3523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 21:00:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24464015c15b4662a32be7625ae3f75b [json_eval_task_sampler.py: 648] +05/25 21:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/589cc33e26134e808392ac3e956ba868 [json_eval_task_sampler.py: 648] +05/25 21:00:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/25 21:00:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3523_ceiling.xml [task_sampler.py: 797] +05/25 21:00:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3523, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:00:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:00:24 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/25 21:00:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:00:24 INFO: [Worker 0] Sampled task 'Pick up the beige sponge and place it in or on the round black and gray ashtray' [task_sampler.py: 1136] +05/25 21:00:24 INFO: [Worker 0] Worker 0 house 3523 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:00:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:03:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:09:23 INFO: [Worker 0] Worker 0 house 3523 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 21:09:27 INFO: [Worker 0] Batching and saving trajectory data for house_3523: 1 episodes [pipeline.py: 233] +05/25 21:09:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:09:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:09:30 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3523 [save_utils.py: 703] +05/25 21:09:30 INFO: [Worker 0] Successfully saved trajectory data for house_3523 in 3.09s (batch: 2.93s, save: 0.16s) [pipeline.py: 280] +05/25 21:09:30 WARNING: [Worker 0] No trajectory data to save for house_3523 [pipeline.py: 229] +05/25 21:09:30 INFO: [Worker 0] Worker 0 completed house 3523: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:09:30 INFO: [Worker 0] Worker 0 starting house 3554 (index 68/112) [pipeline.py: 473] +05/25 21:09:30 INFO: [Worker 0] Loaded 1 episodes for house 3554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 21:09:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_14 [json_eval_task_sampler.py: 648] +05/25 21:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/25 21:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/25 21:10:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3554_ceiling.xml [task_sampler.py: 797] +05/25 21:10:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3554, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:10:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:10:00 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/25 21:10:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:10:00 INFO: [Worker 0] Sampled task 'Pick up the glossy purple ocarina and place it in or on the jade green bowl with patterns' [task_sampler.py: 1136] +05/25 21:10:00 INFO: [Worker 0] Worker 0 house 3554 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:10:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:12:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:17:25 INFO: [Worker 0] Worker 0 house 3554 episode 0 object objaocarina_46450ccd99c6486f8b25e94e1bc8646e_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 21:17:29 INFO: [Worker 0] Batching and saving trajectory data for house_3554: 1 episodes [pipeline.py: 233] +05/25 21:17:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:17:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3554 [save_utils.py: 703] +05/25 21:17:32 INFO: [Worker 0] Successfully saved trajectory data for house_3554 in 3.24s (batch: 3.08s, save: 0.16s) [pipeline.py: 280] +05/25 21:17:33 WARNING: [Worker 0] No trajectory data to save for house_3554 [pipeline.py: 229] +05/25 21:17:33 INFO: [Worker 0] Worker 0 completed house 3554: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:17:33 INFO: [Worker 0] Worker 0 starting house 3606 (index 69/112) [pipeline.py: 473] +05/25 21:17:33 INFO: [Worker 0] Loaded 1 episodes for house 3606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 21:17:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:17:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/71c1d24834ca4725963d69d5bb0a5011 [json_eval_task_sampler.py: 648] +05/25 21:17:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 21:17:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/977c0bb0114e4728b7c6ccb89da913ec [json_eval_task_sampler.py: 648] +05/25 21:17:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3606_ceiling.xml [task_sampler.py: 797] +05/25 21:17:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3606, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:17:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:17:37 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/25 21:17:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:17:37 INFO: [Worker 0] Sampled task 'Pick up the radio receiver and place it in or on the simple gray bowl' [task_sampler.py: 1136] +05/25 21:17:37 INFO: [Worker 0] Worker 0 house 3606 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:17:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:20:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:27:56 INFO: [Worker 0] Worker 0 house 3606 episode 0 object objaradio_678150b84203499895200e91814b96b4_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 21:28:01 INFO: [Worker 0] Batching and saving trajectory data for house_3606: 1 episodes [pipeline.py: 233] +05/25 21:28:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:28:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:28:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3606 [save_utils.py: 703] +05/25 21:28:04 INFO: [Worker 0] Successfully saved trajectory data for house_3606 in 3.27s (batch: 3.09s, save: 0.18s) [pipeline.py: 280] +05/25 21:28:04 WARNING: [Worker 0] No trajectory data to save for house_3606 [pipeline.py: 229] +05/25 21:28:04 INFO: [Worker 0] Worker 0 completed house 3606: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:28:04 INFO: [Worker 0] Worker 0 starting house 3613 (index 70/112) [pipeline.py: 473] +05/25 21:28:04 INFO: [Worker 0] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/25 21:28:04 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] +05/25 21:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/25 21:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/25 21:28:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 21:28:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/25 21:28:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:28:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:28:10 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/25 21:28:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:28:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:28:10 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the red clay bowl with zigzag pattern' [task_sampler.py: 1136] +05/25 21:28:10 INFO: [Worker 0] Worker 0 house 3613 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 21:28:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:30:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:36:56 INFO: [Worker 0] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 21:37:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 00:53:46 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] +05/26 00:54:22 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..e0ddd3834e667aa721d3302942753ba24d688ceb --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log @@ -0,0 +1,256 @@ +05/26 00:59:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 00:59:03 INFO: Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 00:59:03 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 00:59:03 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903'), + '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': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 00:59:03 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 00:59:03 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] +05/26 00:59:03 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 00:59:03 INFO: [Worker 0] Worker 0 starting house 3613 (index 0/42) [pipeline.py: 473] +05/26 00:59:03 INFO: [Worker 0] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 00:59:03 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] +05/26 00:59:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 00:59:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 00:59:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/26 00:59:51 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 00:59:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/26 00:59:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 00:59:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 00:59:55 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 00:59:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 00:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 00:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 00:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 00:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 00:59:55 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the red clay bowl with zigzag pattern' [task_sampler.py: 1136] +05/26 00:59:55 INFO: [Worker 0] Worker 0 house 3613 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 00:59:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 00:59:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:02:36 INFO: [Worker 0] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 01:02:40 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] +05/26 01:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 01:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 01:02:41 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/26 01:02:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/26 01:02:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:02:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:02:44 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 01:02:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:02:45 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden corkscrew with lever and place it in or on the red bowl with zigzags' [task_sampler.py: 1136] +05/26 01:02:45 INFO: [Worker 0] Worker 0 house 3613 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 01:02:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:06:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:13:30 INFO: [Worker 0] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 01:13:35 INFO: [Worker 0] Batching and saving trajectory data for house_3613: 2 episodes [pipeline.py: 233] +05/26 01:13:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:13:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:13:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:13:44 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/house_3613 [save_utils.py: 703] +05/26 01:13:44 INFO: [Worker 0] Successfully saved trajectory data for house_3613 in 8.53s (batch: 8.22s, save: 0.31s) [pipeline.py: 280] +05/26 01:13:45 WARNING: [Worker 0] No trajectory data to save for house_3613 [pipeline.py: 229] +05/26 01:13:45 INFO: [Worker 0] Worker 0 completed house 3613: 0/2 successful episodes [pipeline.py: 1243] +05/26 01:13:45 INFO: [Worker 0] Worker 0 starting house 3654 (index 1/42) [pipeline.py: 473] +05/26 01:13:45 INFO: [Worker 0] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:13:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:16:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/26 01:16:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7 [json_eval_task_sampler.py: 648] +05/26 01:16:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 01:16:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3654_ceiling.xml [task_sampler.py: 797] +05/26 01:16:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3654, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:16:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:16:13 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 01:16:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:16:13 INFO: [Worker 0] Sampled task 'Pick up the vibrant magenta coil spring on base and place it in or on the organic shaped rustic off-white bowl' [task_sampler.py: 1136] +05/26 01:16:13 INFO: [Worker 0] Worker 0 house 3654 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:16:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:16:14 WARNING: [Worker 0] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene [object_manager.py: 1238] +05/26 01:16:14 WARNING: [Worker 0] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene [object_manager.py: 1238] +05/26 01:20:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] +05/26 01:23:51 INFO: [Worker 0] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False [pipeline.py: 1114] +05/26 01:23:56 INFO: [Worker 0] Worker 0 house 3654 shutdown requested, skipping save [pipeline.py: 1214] +05/26 01:23:56 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up... [pipeline.py: 460] +05/26 01:23:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/26 01:23:56 INFO: Completed 2 houses, skipped 0 houses [pipeline.py: 1496] +05/26 01:23:56 INFO: Success count: 0, Total count: 3 [pipeline.py: 1499] +05/26 01:23:56 INFO: Success rate: 0.00% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/running_log.log b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..98044bef5680fbf8c46dbb0e1943c3aa0e5df244 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/running_log.log @@ -0,0 +1,1453 @@ +05/26 01:04:43 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 01:04:43 INFO: Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 01:04:43 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 01:04:43 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + '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': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 01:04:43 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 01:04:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:43 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 01:04:43 INFO: [Worker 0] Worker 0 starting house 3613 (index 0/42) [pipeline.py: 473] +05/26 01:04:43 INFO: [Worker 0] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:04:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 01:04:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 01:04:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/26 01:04:50 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 01:05:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/26 01:05:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:05:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:05:04 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 01:05:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:05:05 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it in or on the red clay bowl with zigzag pattern' [task_sampler.py: 1136] +05/26 01:05:05 INFO: [Worker 0] Worker 0 house 3613 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 01:05:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:07:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:14:16 INFO: [Worker 0] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 01:14:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 01:16:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/26 01:16:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3613_ceiling.xml [task_sampler.py: 797] +05/26 01:16:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:16:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:16:16 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 01:16:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:16:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:16:16 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden corkscrew with lever and place it in or on the red bowl with zigzags' [task_sampler.py: 1136] +05/26 01:16:16 INFO: [Worker 0] Worker 0 house 3613 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 01:16:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:16:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:22:45 INFO: [Worker 0] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 01:22:51 INFO: [Worker 0] Batching and saving trajectory data for house_3613: 2 episodes [pipeline.py: 233] +05/26 01:22:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:22:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:22:58 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 [save_utils.py: 703] +05/26 01:22:58 INFO: [Worker 0] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) [pipeline.py: 280] +05/26 01:22:59 WARNING: [Worker 0] No trajectory data to save for house_3613 [pipeline.py: 229] +05/26 01:22:59 INFO: [Worker 0] Worker 0 completed house 3613: 0/2 successful episodes [pipeline.py: 1243] +05/26 01:22:59 INFO: [Worker 0] Worker 0 starting house 3654 (index 1/42) [pipeline.py: 473] +05/26 01:22:59 INFO: [Worker 0] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:22:59 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] +05/26 01:23:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/26 01:23:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7 [json_eval_task_sampler.py: 648] +05/26 01:23:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 01:23:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3654_ceiling.xml [task_sampler.py: 797] +05/26 01:23:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3654, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:23:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:23:07 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 01:23:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:23:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:23:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:23:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:23:07 INFO: [Worker 0] Sampled task 'Pick up the vibrant magenta coil spring on base and place it in or on the organic shaped rustic off-white bowl' [task_sampler.py: 1136] +05/26 01:23:07 INFO: [Worker 0] Worker 0 house 3654 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:23:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:23:07 WARNING: [Worker 0] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene [object_manager.py: 1238] +05/26 01:23:07 WARNING: [Worker 0] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene [object_manager.py: 1238] +05/26 01:23:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:26:07 INFO: [Worker 0] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False [pipeline.py: 1114] +05/26 01:26:10 INFO: [Worker 0] Batching and saving trajectory data for house_3654: 1 episodes [pipeline.py: 233] +05/26 01:26:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:26:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:26:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 [save_utils.py: 703] +05/26 01:26:13 INFO: [Worker 0] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) [pipeline.py: 280] +05/26 01:26:13 WARNING: [Worker 0] No trajectory data to save for house_3654 [pipeline.py: 229] +05/26 01:26:13 INFO: [Worker 0] Worker 0 completed house 3654: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:26:13 INFO: [Worker 0] Worker 0 starting house 3698 (index 2/42) [pipeline.py: 473] +05/26 01:26:13 INFO: [Worker 0] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:26:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2 [json_eval_task_sampler.py: 648] +05/26 01:30:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/26 01:30:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3698_ceiling.xml [task_sampler.py: 797] +05/26 01:30:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3698, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:30:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:30:43 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 01:30:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:30:43 INFO: [Worker 0] Sampled task 'Pick up the red potato and place it in or on the rustic stone bowl with spout' [task_sampler.py: 1136] +05/26 01:30:43 INFO: [Worker 0] Worker 0 house 3698 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:30:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:35:21 INFO: [Worker 0] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 01:35:25 INFO: [Worker 0] Batching and saving trajectory data for house_3698: 1 episodes [pipeline.py: 233] +05/26 01:35:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:35:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:35:29 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 [save_utils.py: 703] +05/26 01:35:29 INFO: [Worker 0] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) [pipeline.py: 280] +05/26 01:35:30 WARNING: [Worker 0] No trajectory data to save for house_3698 [pipeline.py: 229] +05/26 01:35:30 INFO: [Worker 0] Worker 0 completed house 3698: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:35:30 INFO: [Worker 0] Worker 0 starting house 3764 (index 3/42) [pipeline.py: 473] +05/26 01:35:30 INFO: [Worker 0] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:35:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:35:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_7 [json_eval_task_sampler.py: 648] +05/26 01:35:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/26 01:35:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/26 01:35:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3764_ceiling.xml [task_sampler.py: 797] +05/26 01:35:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3764, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:35:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:35:34 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/26 01:35:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:35:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:35:34 INFO: [Worker 0] Sampled task 'Pick up the round metallic medallion with embossed inscription and place it in or on the textured rustic gray bowl' [task_sampler.py: 1136] +05/26 01:35:34 INFO: [Worker 0] Worker 0 house 3764 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:35:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:38:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:42:37 INFO: [Worker 0] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:42:41 INFO: [Worker 0] Batching and saving trajectory data for house_3764: 1 episodes [pipeline.py: 233] +05/26 01:42:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:42:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:42:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 [save_utils.py: 703] +05/26 01:42:43 INFO: [Worker 0] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) [pipeline.py: 280] +05/26 01:42:44 WARNING: [Worker 0] No trajectory data to save for house_3764 [pipeline.py: 229] +05/26 01:42:44 INFO: [Worker 0] Worker 0 completed house 3764: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:42:44 INFO: [Worker 0] Worker 0 starting house 3794 (index 4/42) [pipeline.py: 473] +05/26 01:42:44 INFO: [Worker 0] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:42:44 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] +05/26 01:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/26 01:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/26 01:46:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/26 01:46:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3794_ceiling.xml [task_sampler.py: 797] +05/26 01:46:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3794, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:46:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:46:18 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/26 01:46:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:46:18 INFO: [Worker 0] Sampled task 'Pick up the tableware and place it in or on the round gray shallow bowl' [task_sampler.py: 1136] +05/26 01:46:18 INFO: [Worker 0] Worker 0 house 3794 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:46:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:47:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:49:38 INFO: [Worker 0] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 01:49:41 INFO: [Worker 0] Batching and saving trajectory data for house_3794: 1 episodes [pipeline.py: 233] +05/26 01:49:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:49:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:49:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 [save_utils.py: 703] +05/26 01:49:43 INFO: [Worker 0] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) [pipeline.py: 280] +05/26 01:49:43 WARNING: [Worker 0] No trajectory data to save for house_3794 [pipeline.py: 229] +05/26 01:49:43 INFO: [Worker 0] Worker 0 completed house 3794: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:49:43 INFO: [Worker 0] Worker 0 starting house 3881 (index 5/42) [pipeline.py: 473] +05/26 01:49:43 INFO: [Worker 0] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 01:49:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3339ce474c3d4fb3a35952f476ca1e4a [json_eval_task_sampler.py: 648] +05/26 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/24ee73c87dcf4161a630bb65dee2a7a5 [json_eval_task_sampler.py: 648] +05/26 01:55:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/621be7f4eeeb4bcdabc8ecccdc8f0ee4 [json_eval_task_sampler.py: 648] +05/26 01:55:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3881_ceiling.xml [task_sampler.py: 797] +05/26 01:55:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3881, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:55:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:55:31 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 01:55:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:55:31 INFO: [Worker 0] Sampled task 'Pick up the blue plastic bottle and place it in or on the jade green patterned bowl' [task_sampler.py: 1136] +05/26 01:55:31 INFO: [Worker 0] Worker 0 house 3881 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:55:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:55:31 WARNING: [Worker 0] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene [object_manager.py: 1238] +05/26 01:57:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:03:24 INFO: [Worker 0] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 02:03:29 INFO: [Worker 0] Batching and saving trajectory data for house_3881: 1 episodes [pipeline.py: 233] +05/26 02:03:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:03:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:03:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 [save_utils.py: 703] +05/26 02:03:33 INFO: [Worker 0] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) [pipeline.py: 280] +05/26 02:03:34 WARNING: [Worker 0] No trajectory data to save for house_3881 [pipeline.py: 229] +05/26 02:03:34 INFO: [Worker 0] Worker 0 completed house 3881: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:03:34 INFO: [Worker 0] Worker 0 starting house 3911 (index 6/42) [pipeline.py: 473] +05/26 02:03:34 INFO: [Worker 0] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:03:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/26 02:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bcc0425058142c59255979a2b61f0d2 [json_eval_task_sampler.py: 648] +05/26 02:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78 [json_eval_task_sampler.py: 648] +05/26 02:04:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3911_ceiling.xml [task_sampler.py: 797] +05/26 02:04:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3911, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:04:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:04:27 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 02:04:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:04:28 INFO: [Worker 0] Sampled task 'Pick up the wooden house keyholder and place it in or on the beer mug' [task_sampler.py: 1136] +05/26 02:04:28 INFO: [Worker 0] Worker 0 house 3911 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:04:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:07:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:11:09 INFO: [Worker 0] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 02:11:13 INFO: [Worker 0] Batching and saving trajectory data for house_3911: 1 episodes [pipeline.py: 233] +05/26 02:11:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:11:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:11:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 [save_utils.py: 703] +05/26 02:11:15 INFO: [Worker 0] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) [pipeline.py: 280] +05/26 02:11:16 WARNING: [Worker 0] No trajectory data to save for house_3911 [pipeline.py: 229] +05/26 02:11:16 INFO: [Worker 0] Worker 0 completed house 3911: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:11:16 INFO: [Worker 0] Worker 0 starting house 3957 (index 7/42) [pipeline.py: 473] +05/26 02:11:16 INFO: [Worker 0] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:11:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:11:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/26 02:11:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/26 02:11:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/26 02:11:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3957_ceiling.xml [task_sampler.py: 797] +05/26 02:11:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3957, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:11:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:11:20 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/26 02:11:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:11:20 INFO: [Worker 0] Sampled task 'Pick up the glossy brown goblet cup and place it in or on the simple gray bowl' [task_sampler.py: 1136] +05/26 02:11:20 INFO: [Worker 0] Worker 0 house 3957 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:11:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:11:21 WARNING: [Worker 0] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene [object_manager.py: 1238] +05/26 02:11:21 WARNING: [Worker 0] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene [object_manager.py: 1238] +05/26 02:14:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:15:25 INFO: [Worker 0] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True [pipeline.py: 1114] +05/26 02:15:29 INFO: [Worker 0] Batching and saving trajectory data for house_3957: 1 episodes [pipeline.py: 233] +05/26 02:15:29 INFO: [Worker 0] Preparing episode data: 117 timesteps [save_utils.py: 284] +05/26 02:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:15:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 [save_utils.py: 703] +05/26 02:15:32 INFO: [Worker 0] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/26 02:15:33 WARNING: [Worker 0] No trajectory data to save for house_3957 [pipeline.py: 229] +05/26 02:15:33 INFO: [Worker 0] Worker 0 completed house 3957: 1/1 successful episodes [pipeline.py: 1243] +05/26 02:15:33 INFO: [Worker 0] Worker 0 starting house 3995 (index 8/42) [pipeline.py: 473] +05/26 02:15:33 INFO: [Worker 0] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:15:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:15:40 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/26 02:15:40 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/26 02:15:40 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/26 02:15:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3995_ceiling.xml [task_sampler.py: 797] +05/26 02:15:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3995, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:15:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:15:43 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/26 02:15:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:15:43 INFO: [Worker 0] Sampled task 'Pick up the can opener and place it in or on the rusty metal tray with powdered meat' [task_sampler.py: 1136] +05/26 02:15:43 INFO: [Worker 0] Worker 0 house 3995 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:15:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:15:43 WARNING: [Worker 0] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene [object_manager.py: 1238] +05/26 02:21:05 INFO: [Worker 0] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 02:21:09 INFO: [Worker 0] Batching and saving trajectory data for house_3995: 1 episodes [pipeline.py: 233] +05/26 02:21:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:21:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:21:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 [save_utils.py: 703] +05/26 02:21:12 INFO: [Worker 0] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) [pipeline.py: 280] +05/26 02:21:13 WARNING: [Worker 0] No trajectory data to save for house_3995 [pipeline.py: 229] +05/26 02:21:13 INFO: [Worker 0] Worker 0 completed house 3995: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:21:13 INFO: [Worker 0] Worker 0 starting house 4038 (index 9/42) [pipeline.py: 473] +05/26 02:21:13 INFO: [Worker 0] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:21:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:21:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/26 02:21:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/26 02:21:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/26 02:21:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4038_ceiling.xml [task_sampler.py: 797] +05/26 02:21:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4038, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:21:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:21:18 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/26 02:21:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:21:18 INFO: [Worker 0] Sampled task 'Pick up the shiny brass bullet casing and place it in or on the gray stone bowl' [task_sampler.py: 1136] +05/26 02:21:18 INFO: [Worker 0] Worker 0 house 4038 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:21:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:30:08 INFO: [Worker 0] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:30:13 INFO: [Worker 0] Batching and saving trajectory data for house_4038: 1 episodes [pipeline.py: 233] +05/26 02:30:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:30:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:30:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 [save_utils.py: 703] +05/26 02:30:16 INFO: [Worker 0] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) [pipeline.py: 280] +05/26 02:30:16 WARNING: [Worker 0] No trajectory data to save for house_4038 [pipeline.py: 229] +05/26 02:30:16 INFO: [Worker 0] Worker 0 completed house 4038: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:30:16 INFO: [Worker 0] Worker 0 starting house 4097 (index 10/42) [pipeline.py: 473] +05/26 02:30:16 INFO: [Worker 0] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:30:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:30:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/26 02:30:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/26 02:30:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/906fdc79f5d84e8e8b3b467e794a8c00 [json_eval_task_sampler.py: 648] +05/26 02:30:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4097_ceiling.xml [task_sampler.py: 797] +05/26 02:30:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:30:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:30:25 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/26 02:30:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:30:25 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake image and place it in or on the rustic bowl' [task_sampler.py: 1136] +05/26 02:30:25 INFO: [Worker 0] Worker 0 house 4097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:30:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:32:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:37:21 INFO: [Worker 0] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:37:25 INFO: [Worker 0] Batching and saving trajectory data for house_4097: 1 episodes [pipeline.py: 233] +05/26 02:37:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:37:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:37:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 [save_utils.py: 703] +05/26 02:37:28 INFO: [Worker 0] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) [pipeline.py: 280] +05/26 02:37:29 WARNING: [Worker 0] No trajectory data to save for house_4097 [pipeline.py: 229] +05/26 02:37:29 INFO: [Worker 0] Worker 0 completed house 4097: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:37:29 INFO: [Worker 0] Worker 0 starting house 4108 (index 11/42) [pipeline.py: 473] +05/26 02:37:29 INFO: [Worker 0] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:37:29 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] +05/26 02:37:39 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/26 02:37:39 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/26 02:37:39 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78 [json_eval_task_sampler.py: 648] +05/26 02:37:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4108_ceiling.xml [task_sampler.py: 797] +05/26 02:37:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4108, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:37:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:37:44 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 02:37:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:37:44 INFO: [Worker 0] Sampled task 'Pick up the gray-purple primitive stone tool and place it in or on the porcelain dish with colorful floral patterns' [task_sampler.py: 1136] +05/26 02:37:44 INFO: [Worker 0] Worker 0 house 4108 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 02:37:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:41:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:48:17 INFO: [Worker 0] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 02:48:21 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] +05/26 02:48:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/26 02:48:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/26 02:48:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4058303001a4878bbe5c3f248dedd78 [json_eval_task_sampler.py: 648] +05/26 02:48:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4108_ceiling.xml [task_sampler.py: 797] +05/26 02:48:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4108, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:48:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:48:29 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 02:48:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:48:29 INFO: [Worker 0] Sampled task 'Pick up the security device and place it in or on the rectangular box with sand' [task_sampler.py: 1136] +05/26 02:48:29 INFO: [Worker 0] Worker 0 house 4108 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 02:48:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:51:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:55:32 INFO: [Worker 0] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 02:55:37 INFO: [Worker 0] Batching and saving trajectory data for house_4108: 2 episodes [pipeline.py: 233] +05/26 02:55:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:55:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:55:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:55:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:55:47 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 [save_utils.py: 703] +05/26 02:55:47 INFO: [Worker 0] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) [pipeline.py: 280] +05/26 02:55:48 WARNING: [Worker 0] No trajectory data to save for house_4108 [pipeline.py: 229] +05/26 02:55:48 INFO: [Worker 0] Worker 0 completed house 4108: 0/2 successful episodes [pipeline.py: 1243] +05/26 02:55:48 INFO: [Worker 0] Worker 0 starting house 4158 (index 12/42) [pipeline.py: 473] +05/26 02:55:48 INFO: [Worker 0] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 02:55:48 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] +05/26 02:55:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/26 02:55:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/26 02:55:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/976f5b6e9a1344628642051f680b176b [json_eval_task_sampler.py: 648] +05/26 02:56:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4158_ceiling.xml [task_sampler.py: 797] +05/26 02:56:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4158, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:56:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:56:00 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/26 02:56:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:56:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:56:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:56:00 INFO: [Worker 0] Sampled task 'Pick up the white marble piece with veins and place it in or on the round clay serving dish' [task_sampler.py: 1136] +05/26 02:56:00 INFO: [Worker 0] Worker 0 house 4158 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:56:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:56:01 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene [object_manager.py: 1238] +05/26 02:56:01 WARNING: [Worker 0] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene [object_manager.py: 1238] +05/26 03:00:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:06:24 INFO: [Worker 0] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:06:28 INFO: [Worker 0] Batching and saving trajectory data for house_4158: 1 episodes [pipeline.py: 233] +05/26 03:06:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:06:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:06:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 [save_utils.py: 703] +05/26 03:06:32 INFO: [Worker 0] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) [pipeline.py: 280] +05/26 03:06:32 WARNING: [Worker 0] No trajectory data to save for house_4158 [pipeline.py: 229] +05/26 03:06:32 INFO: [Worker 0] Worker 0 completed house 4158: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:06:32 INFO: [Worker 0] Worker 0 starting house 4255 (index 13/42) [pipeline.py: 473] +05/26 03:06:32 INFO: [Worker 0] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:06:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:06:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/15607bdf52a64f81a7555de4cfad4029 [json_eval_task_sampler.py: 648] +05/26 03:06:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/26 03:06:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/26 03:06:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4255_ceiling.xml [task_sampler.py: 797] +05/26 03:06:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4255, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:06:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:06:49 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 03:06:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:06:49 INFO: [Worker 0] Sampled task 'Pick up the pale stone tool with jagged edges and place it in or on the maroon rectangular box with patterns' [task_sampler.py: 1136] +05/26 03:06:49 INFO: [Worker 0] Worker 0 house 4255 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:06:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:06:49 WARNING: [Worker 0] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene [object_manager.py: 1238] +05/26 03:06:49 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene [object_manager.py: 1238] +05/26 03:10:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:15:23 INFO: [Worker 0] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 03:15:26 INFO: [Worker 0] Batching and saving trajectory data for house_4255: 1 episodes [pipeline.py: 233] +05/26 03:15:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:15:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:15:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 [save_utils.py: 703] +05/26 03:15:29 INFO: [Worker 0] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) [pipeline.py: 280] +05/26 03:15:30 WARNING: [Worker 0] No trajectory data to save for house_4255 [pipeline.py: 229] +05/26 03:15:30 INFO: [Worker 0] Worker 0 completed house 4255: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:15:30 INFO: [Worker 0] Worker 0 starting house 4316 (index 14/42) [pipeline.py: 473] +05/26 03:15:30 INFO: [Worker 0] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:15:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:15:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_5 [json_eval_task_sampler.py: 648] +05/26 03:15:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/26 03:15:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/26 03:15:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4316_ceiling.xml [task_sampler.py: 797] +05/26 03:15:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4316, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:15:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:15:37 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/26 03:15:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:15:37 INFO: [Worker 0] Sampled task 'Pick up the vibrant flower bouquet and place it in or on the black bowl with colorful grid' [task_sampler.py: 1136] +05/26 03:15:37 INFO: [Worker 0] Worker 0 house 4316 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:15:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:22:17 INFO: [Worker 0] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True [pipeline.py: 1114] +05/26 03:22:21 INFO: [Worker 0] Batching and saving trajectory data for house_4316: 1 episodes [pipeline.py: 233] +05/26 03:22:21 INFO: [Worker 0] Preparing episode data: 370 timesteps [save_utils.py: 284] +05/26 03:22:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:22:24 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 [save_utils.py: 703] +05/26 03:22:24 INFO: [Worker 0] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) [pipeline.py: 280] +05/26 03:22:25 WARNING: [Worker 0] No trajectory data to save for house_4316 [pipeline.py: 229] +05/26 03:22:25 INFO: [Worker 0] Worker 0 completed house 4316: 1/1 successful episodes [pipeline.py: 1243] +05/26 03:22:25 INFO: [Worker 0] Worker 0 starting house 4359 (index 15/42) [pipeline.py: 473] +05/26 03:22:25 INFO: [Worker 0] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:22:25 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] +05/26 03:22:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/bfae6fa9a7f64b9eb16f57c05553c612 [json_eval_task_sampler.py: 648] +05/26 03:22:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/26 03:22:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/26 03:22:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4359_ceiling.xml [task_sampler.py: 797] +05/26 03:22:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4359, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:22:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:22:35 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 03:22:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:22:35 INFO: [Worker 0] Sampled task 'Pick up the cheesecake and place it in or on the red and black chicken food container' [task_sampler.py: 1136] +05/26 03:22:35 INFO: [Worker 0] Worker 0 house 4359 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:22:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:24:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:27:05 INFO: [Worker 0] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 03:27:09 INFO: [Worker 0] Batching and saving trajectory data for house_4359: 1 episodes [pipeline.py: 233] +05/26 03:27:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:27:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 [save_utils.py: 703] +05/26 03:27:13 INFO: [Worker 0] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) [pipeline.py: 280] +05/26 03:27:14 WARNING: [Worker 0] No trajectory data to save for house_4359 [pipeline.py: 229] +05/26 03:27:14 INFO: [Worker 0] Worker 0 completed house 4359: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:27:14 INFO: [Worker 0] Worker 0 starting house 4390 (index 16/42) [pipeline.py: 473] +05/26 03:27:14 INFO: [Worker 0] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:27:14 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] +05/26 03:27:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/26 03:27:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/26 03:27:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/26 03:27:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4390_ceiling.xml [task_sampler.py: 797] +05/26 03:27:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4390, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:27:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:27:31 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/26 03:27:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:27:31 INFO: [Worker 0] Sampled task 'Pick up the light decorative molding piece with pattern and place it in or on the rectangular box with patterned lid' [task_sampler.py: 1136] +05/26 03:27:31 INFO: [Worker 0] Worker 0 house 4390 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:27:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:27:32 WARNING: [Worker 0] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene [object_manager.py: 1238] +05/26 03:27:32 WARNING: [Worker 0] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene [object_manager.py: 1238] +05/26 03:30:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:36:45 INFO: [Worker 0] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:36:49 INFO: [Worker 0] Batching and saving trajectory data for house_4390: 1 episodes [pipeline.py: 233] +05/26 03:36:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:36:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:36:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 [save_utils.py: 703] +05/26 03:36:53 INFO: [Worker 0] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) [pipeline.py: 280] +05/26 03:36:54 WARNING: [Worker 0] No trajectory data to save for house_4390 [pipeline.py: 229] +05/26 03:36:54 INFO: [Worker 0] Worker 0 completed house 4390: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:36:54 INFO: [Worker 0] Worker 0 starting house 4433 (index 17/42) [pipeline.py: 473] +05/26 03:36:54 INFO: [Worker 0] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:36:54 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] +05/26 03:37:07 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/26 03:37:07 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 03:37:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 03:37:07 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 03:37:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4433_ceiling.xml [task_sampler.py: 797] +05/26 03:37:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4433, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:37:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:37:16 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 03:37:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:37:16 INFO: [Worker 0] Sampled task 'Pick up the mounting bracket and place it in or on the red clay bowl with zigzag pattern' [task_sampler.py: 1136] +05/26 03:37:16 INFO: [Worker 0] Worker 0 house 4433 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 03:37:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:37:17 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene [object_manager.py: 1238] +05/26 03:37:17 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene [object_manager.py: 1238] +05/26 03:37:17 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/26 03:40:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:45:44 INFO: [Worker 0] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:45:48 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] +05/26 03:45:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/26 03:45:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 03:45:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 03:45:51 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 03:45:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4433_ceiling.xml [task_sampler.py: 797] +05/26 03:45:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4433, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:45:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:45:56 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 03:45:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:45:56 INFO: [Worker 0] Sampled task 'Pick up the cream ceramic sugar bowl and place it in or on the red clay bowl with zigzag pattern' [task_sampler.py: 1136] +05/26 03:45:56 INFO: [Worker 0] Worker 0 house 4433 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 03:45:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:45:56 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene [object_manager.py: 1238] +05/26 03:45:56 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene [object_manager.py: 1238] +05/26 03:45:56 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene [object_manager.py: 1238] +05/26 03:48:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:53:35 INFO: [Worker 0] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 03:53:40 INFO: [Worker 0] Batching and saving trajectory data for house_4433: 2 episodes [pipeline.py: 233] +05/26 03:53:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:53:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:53:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:53:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:53:47 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 [save_utils.py: 703] +05/26 03:53:47 INFO: [Worker 0] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) [pipeline.py: 280] +05/26 03:53:47 WARNING: [Worker 0] No trajectory data to save for house_4433 [pipeline.py: 229] +05/26 03:53:47 INFO: [Worker 0] Worker 0 completed house 4433: 0/2 successful episodes [pipeline.py: 1243] +05/26 03:53:47 INFO: [Worker 0] Worker 0 starting house 4439 (index 18/42) [pipeline.py: 473] +05/26 03:53:47 INFO: [Worker 0] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 03:53:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_20 [json_eval_task_sampler.py: 648] +05/26 03:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/26 03:53:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 03:53:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4439_ceiling.xml [task_sampler.py: 797] +05/26 03:53:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4439, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:53:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:53:55 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/26 03:53:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:53:56 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden lemon squeezer and place it in or on the light gray ceramic bowl shallow' [task_sampler.py: 1136] +05/26 03:53:56 INFO: [Worker 0] Worker 0 house 4439 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:53:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:56:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:00:21 INFO: [Worker 0] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 04:00:25 INFO: [Worker 0] Batching and saving trajectory data for house_4439: 1 episodes [pipeline.py: 233] +05/26 04:00:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:00:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:00:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 [save_utils.py: 703] +05/26 04:00:28 INFO: [Worker 0] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) [pipeline.py: 280] +05/26 04:00:29 WARNING: [Worker 0] No trajectory data to save for house_4439 [pipeline.py: 229] +05/26 04:00:29 INFO: [Worker 0] Worker 0 completed house 4439: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:00:29 INFO: [Worker 0] Worker 0 starting house 4507 (index 19/42) [pipeline.py: 473] +05/26 04:00:29 INFO: [Worker 0] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:00:29 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] +05/26 04:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/26 04:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/26 04:00:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/26 04:00:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4507_ceiling.xml [task_sampler.py: 797] +05/26 04:00:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4507, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:00:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:00:37 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/26 04:00:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:00:37 INFO: [Worker 0] Sampled task 'Pick up the blue glossy ceramic vase, rounded and place it in or on the tray' [task_sampler.py: 1136] +05/26 04:00:37 INFO: [Worker 0] Worker 0 house 4507 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:00:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:04:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:07:40 INFO: [Worker 0] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 04:07:43 INFO: [Worker 0] Batching and saving trajectory data for house_4507: 1 episodes [pipeline.py: 233] +05/26 04:07:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:07:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:07:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 [save_utils.py: 703] +05/26 04:07:46 INFO: [Worker 0] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) [pipeline.py: 280] +05/26 04:07:47 WARNING: [Worker 0] No trajectory data to save for house_4507 [pipeline.py: 229] +05/26 04:07:47 INFO: [Worker 0] Worker 0 completed house 4507: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:07:47 INFO: [Worker 0] Worker 0 starting house 4551 (index 20/42) [pipeline.py: 473] +05/26 04:07:47 INFO: [Worker 0] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:07:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:08:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_17 [json_eval_task_sampler.py: 648] +05/26 04:08:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/26 04:08:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/26 04:08:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4551_ceiling.xml [task_sampler.py: 797] +05/26 04:08:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4551, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:08:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:08:07 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/26 04:08:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:08:08 INFO: [Worker 0] Sampled task 'Pick up the dried fish and place it in or on the shallow round bowl with feet' [task_sampler.py: 1136] +05/26 04:08:08 INFO: [Worker 0] Worker 0 house 4551 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:08:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:08:08 WARNING: [Worker 0] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene [object_manager.py: 1238] +05/26 04:08:08 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene [object_manager.py: 1238] +05/26 04:11:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:20:48 INFO: [Worker 0] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:20:52 INFO: [Worker 0] Batching and saving trajectory data for house_4551: 1 episodes [pipeline.py: 233] +05/26 04:20:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:20:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:20:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 [save_utils.py: 703] +05/26 04:20:55 INFO: [Worker 0] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) [pipeline.py: 280] +05/26 04:20:56 WARNING: [Worker 0] No trajectory data to save for house_4551 [pipeline.py: 229] +05/26 04:20:56 INFO: [Worker 0] Worker 0 completed house 4551: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:20:56 INFO: [Worker 0] Worker 0 starting house 4619 (index 21/42) [pipeline.py: 473] +05/26 04:20:56 INFO: [Worker 0] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:20:56 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] +05/26 04:20:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81 [json_eval_task_sampler.py: 648] +05/26 04:20:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b8cba8b5a69543ce9875c40028261490 [json_eval_task_sampler.py: 648] +05/26 04:20:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_20 [json_eval_task_sampler.py: 648] +05/26 04:20:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4619_ceiling.xml [task_sampler.py: 797] +05/26 04:20:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4619, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:20:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:20:59 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/26 04:20:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:20:59 INFO: [Worker 0] Sampled task 'Pick up the golden metallic laurel wreath headpiece and place it in or on the smooth gray bowl' [task_sampler.py: 1136] +05/26 04:20:59 INFO: [Worker 0] Worker 0 house 4619 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:20:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:22:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:25:31 INFO: [Worker 0] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:25:35 INFO: [Worker 0] Batching and saving trajectory data for house_4619: 1 episodes [pipeline.py: 233] +05/26 04:25:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:25:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 [save_utils.py: 703] +05/26 04:25:37 INFO: [Worker 0] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) [pipeline.py: 280] +05/26 04:25:38 WARNING: [Worker 0] No trajectory data to save for house_4619 [pipeline.py: 229] +05/26 04:25:38 INFO: [Worker 0] Worker 0 completed house 4619: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:25:38 INFO: [Worker 0] Worker 0 starting house 4682 (index 22/42) [pipeline.py: 473] +05/26 04:25:38 INFO: [Worker 0] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:25:38 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] +05/26 04:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/472cceee5a224ff6933e7baf31d16641 [json_eval_task_sampler.py: 648] +05/26 04:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3339ce474c3d4fb3a35952f476ca1e4a [json_eval_task_sampler.py: 648] +05/26 04:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/26 04:25:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4682_ceiling.xml [task_sampler.py: 797] +05/26 04:25:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4682, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:25:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:25:51 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/26 04:25:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:25:51 INFO: [Worker 0] Sampled task 'Pick up the green smoke grenade and place it in or on the white ceramic bowl with chicken salad' [task_sampler.py: 1136] +05/26 04:25:51 INFO: [Worker 0] Worker 0 house 4682 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:25:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:32:51 INFO: [Worker 0] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 04:32:57 INFO: [Worker 0] Batching and saving trajectory data for house_4682: 1 episodes [pipeline.py: 233] +05/26 04:32:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:33:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:33:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 [save_utils.py: 703] +05/26 04:33:01 INFO: [Worker 0] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) [pipeline.py: 280] +05/26 04:33:02 WARNING: [Worker 0] No trajectory data to save for house_4682 [pipeline.py: 229] +05/26 04:33:02 INFO: [Worker 0] Worker 0 completed house 4682: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:33:02 INFO: [Worker 0] Worker 0 starting house 4715 (index 23/42) [pipeline.py: 473] +05/26 04:33:02 INFO: [Worker 0] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:33:02 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] +05/26 04:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/26 04:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/26 04:33:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/906fdc79f5d84e8e8b3b467e794a8c00 [json_eval_task_sampler.py: 648] +05/26 04:33:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4715_ceiling.xml [task_sampler.py: 797] +05/26 04:33:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4715, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:33:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:33:17 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 04:33:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:33:17 INFO: [Worker 0] Sampled task 'Pick up the wooden beaver holding stick carved and place it in or on the colorful ceramic bowl with bird' [task_sampler.py: 1136] +05/26 04:33:17 INFO: [Worker 0] Worker 0 house 4715 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:33:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:35:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:37:58 INFO: [Worker 0] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 04:38:02 INFO: [Worker 0] Batching and saving trajectory data for house_4715: 1 episodes [pipeline.py: 233] +05/26 04:38:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:38:05 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 [save_utils.py: 703] +05/26 04:38:05 INFO: [Worker 0] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) [pipeline.py: 280] +05/26 04:38:05 WARNING: [Worker 0] No trajectory data to save for house_4715 [pipeline.py: 229] +05/26 04:38:05 INFO: [Worker 0] Worker 0 completed house 4715: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:38:05 INFO: [Worker 0] Worker 0 starting house 4749 (index 24/42) [pipeline.py: 473] +05/26 04:38:05 INFO: [Worker 0] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:38:05 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] +05/26 04:38:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/26 04:38:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/26 04:38:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 04:38:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4749_ceiling.xml [task_sampler.py: 797] +05/26 04:38:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4749, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:38:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:38:11 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/26 04:38:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:38:11 INFO: [Worker 0] Sampled task 'Pick up the green plastic mount and place it in or on the round dark bowl' [task_sampler.py: 1136] +05/26 04:38:11 INFO: [Worker 0] Worker 0 house 4749 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:38:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:41:43 INFO: [Worker 0] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:41:46 INFO: [Worker 0] Batching and saving trajectory data for house_4749: 1 episodes [pipeline.py: 233] +05/26 04:41:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:41:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:41:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 [save_utils.py: 703] +05/26 04:41:49 INFO: [Worker 0] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) [pipeline.py: 280] +05/26 04:41:50 WARNING: [Worker 0] No trajectory data to save for house_4749 [pipeline.py: 229] +05/26 04:41:50 INFO: [Worker 0] Worker 0 completed house 4749: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:41:50 INFO: [Worker 0] Worker 0 starting house 4792 (index 25/42) [pipeline.py: 473] +05/26 04:41:50 INFO: [Worker 0] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:41:50 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] +05/26 04:41:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/26 04:41:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/26 04:41:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f42af504c27649c78412bafd25665e46 [json_eval_task_sampler.py: 648] +05/26 04:41:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4792_ceiling.xml [task_sampler.py: 797] +05/26 04:41:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4792, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:41:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:41:51 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/26 04:41:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:41:51 INFO: [Worker 0] Sampled task 'Pick up the black rubber air blower and place it in or on the tan bowl with dark patterns' [task_sampler.py: 1136] +05/26 04:41:51 INFO: [Worker 0] Worker 0 house 4792 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:41:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:44:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:47:46 INFO: [Worker 0] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:47:50 INFO: [Worker 0] Batching and saving trajectory data for house_4792: 1 episodes [pipeline.py: 233] +05/26 04:47:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:47:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 [save_utils.py: 703] +05/26 04:47:54 INFO: [Worker 0] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) [pipeline.py: 280] +05/26 04:47:55 WARNING: [Worker 0] No trajectory data to save for house_4792 [pipeline.py: 229] +05/26 04:47:55 INFO: [Worker 0] Worker 0 completed house 4792: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:47:55 INFO: [Worker 0] Worker 0 starting house 4819 (index 26/42) [pipeline.py: 473] +05/26 04:47:55 INFO: [Worker 0] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:47:55 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] +05/26 04:48:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_14 [json_eval_task_sampler.py: 648] +05/26 04:48:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/71c1d24834ca4725963d69d5bb0a5011 [json_eval_task_sampler.py: 648] +05/26 04:48:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/26 04:48:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4819_ceiling.xml [task_sampler.py: 797] +05/26 04:48:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4819, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:48:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:48:04 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/26 04:48:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:48:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:48:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:48:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:48:04 INFO: [Worker 0] Sampled task 'Pick up the gray handheld tool with grip and place it in or on the green military box' [task_sampler.py: 1136] +05/26 04:48:04 INFO: [Worker 0] Worker 0 house 4819 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:48:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:48:04 WARNING: [Worker 0] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene [object_manager.py: 1238] +05/26 04:48:04 WARNING: [Worker 0] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene [object_manager.py: 1238] +05/26 04:50:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:53:08 INFO: [Worker 0] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True [pipeline.py: 1114] +05/26 04:53:11 INFO: [Worker 0] Batching and saving trajectory data for house_4819: 1 episodes [pipeline.py: 233] +05/26 04:53:11 INFO: [Worker 0] Preparing episode data: 429 timesteps [save_utils.py: 284] +05/26 04:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:53:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 [save_utils.py: 703] +05/26 04:53:14 INFO: [Worker 0] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) [pipeline.py: 280] +05/26 04:53:14 WARNING: [Worker 0] No trajectory data to save for house_4819 [pipeline.py: 229] +05/26 04:53:14 INFO: [Worker 0] Worker 0 completed house 4819: 1/1 successful episodes [pipeline.py: 1243] +05/26 04:53:14 INFO: [Worker 0] Worker 0 starting house 4837 (index 27/42) [pipeline.py: 473] +05/26 04:53:14 INFO: [Worker 0] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 04:53:14 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] +05/26 04:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4 [json_eval_task_sampler.py: 648] +05/26 04:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/26 04:53:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/26 04:53:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4837_ceiling.xml [task_sampler.py: 797] +05/26 04:53:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4837, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:53:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:53:20 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/26 04:53:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:53:20 INFO: [Worker 0] Sampled task 'Pick up the pink smooth bowtie and place it in or on the blue pot' [task_sampler.py: 1136] +05/26 04:53:20 INFO: [Worker 0] Worker 0 house 4837 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 04:53:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:53:21 WARNING: [Worker 0] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene [object_manager.py: 1238] +05/26 04:53:21 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene [object_manager.py: 1238] +05/26 04:55:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:58:07 INFO: [Worker 0] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 04:58:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:58:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/42f50ecee3da4df498c0e1b4319366a4 [json_eval_task_sampler.py: 648] +05/26 04:58:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/26 04:58:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/26 04:58:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4837_ceiling.xml [task_sampler.py: 797] +05/26 04:58:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4837, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:58:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:58:20 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/26 04:58:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:58:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:58:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:58:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:58:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:58:20 INFO: [Worker 0] Sampled task 'Pick up the sleek black stylus and place it in or on the irregular shaped reddish clay bowl' [task_sampler.py: 1136] +05/26 04:58:20 INFO: [Worker 0] Worker 0 house 4837 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 04:58:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:58:20 WARNING: [Worker 0] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene [object_manager.py: 1238] +05/26 04:58:20 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene [object_manager.py: 1238] +05/26 05:05:11 INFO: [Worker 0] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 05:05:16 INFO: [Worker 0] Batching and saving trajectory data for house_4837: 2 episodes [pipeline.py: 233] +05/26 05:05:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:05:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:05:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:05:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:05:23 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 [save_utils.py: 703] +05/26 05:05:23 INFO: [Worker 0] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) [pipeline.py: 280] +05/26 05:05:24 WARNING: [Worker 0] No trajectory data to save for house_4837 [pipeline.py: 229] +05/26 05:05:24 INFO: [Worker 0] Worker 0 completed house 4837: 0/2 successful episodes [pipeline.py: 1243] +05/26 05:05:24 INFO: [Worker 0] Worker 0 starting house 4880 (index 28/42) [pipeline.py: 473] +05/26 05:05:24 INFO: [Worker 0] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:05:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:05:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/26 05:05:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/26 05:05:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/26 05:05:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4880_ceiling.xml [task_sampler.py: 797] +05/26 05:05:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4880, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:05:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:05:38 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/26 05:05:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:05:38 INFO: [Worker 0] Sampled task 'Pick up the wooden rectangular stamp with text and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 05:05:38 INFO: [Worker 0] Worker 0 house 4880 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:05:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:05:39 WARNING: [Worker 0] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene [object_manager.py: 1238] +05/26 05:15:01 INFO: [Worker 0] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 05:15:06 INFO: [Worker 0] Batching and saving trajectory data for house_4880: 1 episodes [pipeline.py: 233] +05/26 05:15:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:15:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:15:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 [save_utils.py: 703] +05/26 05:15:10 INFO: [Worker 0] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) [pipeline.py: 280] +05/26 05:15:10 WARNING: [Worker 0] No trajectory data to save for house_4880 [pipeline.py: 229] +05/26 05:15:10 INFO: [Worker 0] Worker 0 completed house 4880: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:15:10 INFO: [Worker 0] Worker 0 starting house 4960 (index 29/42) [pipeline.py: 473] +05/26 05:15:10 INFO: [Worker 0] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:15:10 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] +05/26 05:15:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_6 [json_eval_task_sampler.py: 648] +05/26 05:15:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5f6ab8152ec9440e9b922def5ae8b8b2 [json_eval_task_sampler.py: 648] +05/26 05:15:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/26 05:15:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4960_ceiling.xml [task_sampler.py: 797] +05/26 05:15:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4960, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:15:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:15:18 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/26 05:15:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:15:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:15:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:15:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:15:18 INFO: [Worker 0] Sampled task 'Pick up the teal rectangular speaker and place it in or on the matte dark gray ceramic bowl' [task_sampler.py: 1136] +05/26 05:15:18 INFO: [Worker 0] Worker 0 house 4960 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:15:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:18:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:21:27 INFO: [Worker 0] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 05:21:31 INFO: [Worker 0] Batching and saving trajectory data for house_4960: 1 episodes [pipeline.py: 233] +05/26 05:21:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:21:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:21:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 [save_utils.py: 703] +05/26 05:21:33 INFO: [Worker 0] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) [pipeline.py: 280] +05/26 05:21:34 WARNING: [Worker 0] No trajectory data to save for house_4960 [pipeline.py: 229] +05/26 05:21:34 INFO: [Worker 0] Worker 0 completed house 4960: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:21:34 INFO: [Worker 0] Worker 0 starting house 5006 (index 30/42) [pipeline.py: 473] +05/26 05:21:34 INFO: [Worker 0] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:21:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:21:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ce448005340241c8acd2034b72cd09f8 [json_eval_task_sampler.py: 648] +05/26 05:21:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/26 05:21:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/26 05:21:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5006_ceiling.xml [task_sampler.py: 797] +05/26 05:21:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5006, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:21:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:21:50 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/26 05:21:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:21:50 INFO: [Worker 0] Sampled task 'Pick up the white rectangular domino piece with dots and place it in or on the square pink geometric box' [task_sampler.py: 1136] +05/26 05:21:50 INFO: [Worker 0] Worker 0 house 5006 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:21:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:25:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:29:57 INFO: [Worker 0] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 05:30:02 INFO: [Worker 0] Batching and saving trajectory data for house_5006: 1 episodes [pipeline.py: 233] +05/26 05:30:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:30:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:30:06 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 [save_utils.py: 703] +05/26 05:30:06 INFO: [Worker 0] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) [pipeline.py: 280] +05/26 05:30:07 WARNING: [Worker 0] No trajectory data to save for house_5006 [pipeline.py: 229] +05/26 05:30:07 INFO: [Worker 0] Worker 0 completed house 5006: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:30:07 INFO: [Worker 0] Worker 0 starting house 5068 (index 31/42) [pipeline.py: 473] +05/26 05:30:07 INFO: [Worker 0] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:30:07 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] +05/26 05:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 05:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/DecorativeBox2 [json_eval_task_sampler.py: 648] +05/26 05:30:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 05:30:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5068_ceiling.xml [task_sampler.py: 797] +05/26 05:30:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5068, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:30:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:30:11 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/26 05:30:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:30:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:30:11 INFO: [Worker 0] Sampled task 'Pick up the six of clubs card and place it in or on the off-white bowl' [task_sampler.py: 1136] +05/26 05:30:11 INFO: [Worker 0] Worker 0 house 5068 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:30:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:33:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:37:19 INFO: [Worker 0] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 05:37:23 INFO: [Worker 0] Batching and saving trajectory data for house_5068: 1 episodes [pipeline.py: 233] +05/26 05:37:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:37:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 [save_utils.py: 703] +05/26 05:37:25 INFO: [Worker 0] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) [pipeline.py: 280] +05/26 05:37:26 WARNING: [Worker 0] No trajectory data to save for house_5068 [pipeline.py: 229] +05/26 05:37:26 INFO: [Worker 0] Worker 0 completed house 5068: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:37:26 INFO: [Worker 0] Worker 0 starting house 5134 (index 32/42) [pipeline.py: 473] +05/26 05:37:26 INFO: [Worker 0] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:37:26 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] +05/26 05:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/26 05:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/26 05:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bdd36c94f3f74f22b02b8a069c8d97b7 [json_eval_task_sampler.py: 648] +05/26 05:37:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5134_ceiling.xml [task_sampler.py: 797] +05/26 05:37:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5134, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:37:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:37:32 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/26 05:37:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:37:32 INFO: [Worker 0] Sampled task 'Pick up the metal emblem with eagle and wings and place it in or on the bowl with rice and peas' [task_sampler.py: 1136] +05/26 05:37:32 INFO: [Worker 0] Worker 0 house 5134 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:37:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:42:27 INFO: [Worker 0] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 05:42:31 INFO: [Worker 0] Batching and saving trajectory data for house_5134: 1 episodes [pipeline.py: 233] +05/26 05:42:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:42:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:42:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 [save_utils.py: 703] +05/26 05:42:35 INFO: [Worker 0] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) [pipeline.py: 280] +05/26 05:42:36 WARNING: [Worker 0] No trajectory data to save for house_5134 [pipeline.py: 229] +05/26 05:42:36 INFO: [Worker 0] Worker 0 completed house 5134: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:42:36 INFO: [Worker 0] Worker 0 starting house 5173 (index 33/42) [pipeline.py: 473] +05/26 05:42:36 INFO: [Worker 0] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:42:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:42:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/26 05:42:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/26 05:42:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/26 05:42:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5173_ceiling.xml [task_sampler.py: 797] +05/26 05:42:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5173, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:42:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:42:53 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/26 05:42:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:42:53 INFO: [Worker 0] Sampled task 'Pick up the wedge of yellow cheese with holes and place it in or on the dark gray bowl' [task_sampler.py: 1136] +05/26 05:42:53 INFO: [Worker 0] Worker 0 house 5173 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 05:42:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:42:53 WARNING: [Worker 0] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene [object_manager.py: 1238] +05/26 05:42:53 WARNING: [Worker 0] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene [object_manager.py: 1238] +05/26 05:42:53 WARNING: [Worker 0] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene [object_manager.py: 1238] +05/26 05:42:53 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/26 05:42:53 WARNING: [Worker 0] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene [object_manager.py: 1238] +05/26 05:46:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:51:01 INFO: [Worker 0] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 05:51:06 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] +05/26 05:51:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/26 05:51:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/26 05:51:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/26 05:51:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5173_ceiling.xml [task_sampler.py: 797] +05/26 05:51:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5173, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:51:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:51:17 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/26 05:51:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:51:17 INFO: [Worker 0] Sampled task 'Pick up the dark vintage iron nutcracker and place it in or on the blue and white ceramic bowl' [task_sampler.py: 1136] +05/26 05:51:17 INFO: [Worker 0] Worker 0 house 5173 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 05:51:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:51:17 WARNING: [Worker 0] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene [object_manager.py: 1238] +05/26 05:51:17 WARNING: [Worker 0] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene [object_manager.py: 1238] +05/26 05:51:17 WARNING: [Worker 0] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene [object_manager.py: 1238] +05/26 05:51:17 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/26 05:51:17 WARNING: [Worker 0] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene [object_manager.py: 1238] +05/26 05:58:56 INFO: [Worker 0] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 05:58:59 INFO: [Worker 0] Batching and saving trajectory data for house_5173: 2 episodes [pipeline.py: 233] +05/26 05:58:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:59:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:59:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:59:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:59:04 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 [save_utils.py: 703] +05/26 05:59:04 INFO: [Worker 0] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) [pipeline.py: 280] +05/26 05:59:05 WARNING: [Worker 0] No trajectory data to save for house_5173 [pipeline.py: 229] +05/26 05:59:05 INFO: [Worker 0] Worker 0 completed house 5173: 0/2 successful episodes [pipeline.py: 1243] +05/26 05:59:05 INFO: [Worker 0] Worker 0 starting house 5185 (index 34/42) [pipeline.py: 473] +05/26 05:59:05 INFO: [Worker 0] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 05:59:05 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] +05/26 05:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/26 05:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/26 05:59:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a [json_eval_task_sampler.py: 648] +05/26 05:59:16 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 05:59:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5185_ceiling.xml [task_sampler.py: 797] +05/26 05:59:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5185, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:59:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:59:22 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 05:59:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:59:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:59:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:59:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:59:22 INFO: [Worker 0] Sampled task 'Pick up the yellow vase and place it in or on the brown wooden leaf tray' [task_sampler.py: 1136] +05/26 05:59:22 INFO: [Worker 0] Worker 0 house 5185 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:59:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:59:23 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene [object_manager.py: 1238] +05/26 06:04:07 INFO: [Worker 0] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:04:12 INFO: [Worker 0] Batching and saving trajectory data for house_5185: 1 episodes [pipeline.py: 233] +05/26 06:04:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:04:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:04:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 [save_utils.py: 703] +05/26 06:04:16 INFO: [Worker 0] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) [pipeline.py: 280] +05/26 06:04:17 WARNING: [Worker 0] No trajectory data to save for house_5185 [pipeline.py: 229] +05/26 06:04:17 INFO: [Worker 0] Worker 0 completed house 5185: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:04:17 INFO: [Worker 0] Worker 0 starting house 5242 (index 35/42) [pipeline.py: 473] +05/26 06:04:17 INFO: [Worker 0] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:04:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/26 06:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/26 06:04:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b66d433fad7419d994eb2b098293577 [json_eval_task_sampler.py: 648] +05/26 06:04:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5242_ceiling.xml [task_sampler.py: 797] +05/26 06:04:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5242, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:04:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:04:26 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/26 06:04:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:04:26 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps with antenna and place it in or on the green striped bowl' [task_sampler.py: 1136] +05/26 06:04:26 INFO: [Worker 0] Worker 0 house 5242 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:04:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:08:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:12:09 INFO: [Worker 0] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 06:12:13 INFO: [Worker 0] Batching and saving trajectory data for house_5242: 1 episodes [pipeline.py: 233] +05/26 06:12:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:12:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 [save_utils.py: 703] +05/26 06:12:17 INFO: [Worker 0] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) [pipeline.py: 280] +05/26 06:12:18 WARNING: [Worker 0] No trajectory data to save for house_5242 [pipeline.py: 229] +05/26 06:12:18 INFO: [Worker 0] Worker 0 completed house 5242: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:12:18 INFO: [Worker 0] Worker 0 starting house 5320 (index 36/42) [pipeline.py: 473] +05/26 06:12:18 INFO: [Worker 0] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:12:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:12:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/26 06:12:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/26 06:12:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338 [json_eval_task_sampler.py: 648] +05/26 06:12:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5320_ceiling.xml [task_sampler.py: 797] +05/26 06:12:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:12:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:12:35 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/26 06:12:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:12:35 INFO: [Worker 0] Sampled task 'Pick up the compact blue fiber cleaver and place it in or on the round wooden bowl with grain' [task_sampler.py: 1136] +05/26 06:12:35 INFO: [Worker 0] Worker 0 house 5320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:12:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:15:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:19:28 INFO: [Worker 0] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 06:19:32 INFO: [Worker 0] Batching and saving trajectory data for house_5320: 1 episodes [pipeline.py: 233] +05/26 06:19:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:19:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:19:36 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 [save_utils.py: 703] +05/26 06:19:36 INFO: [Worker 0] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) [pipeline.py: 280] +05/26 06:19:37 WARNING: [Worker 0] No trajectory data to save for house_5320 [pipeline.py: 229] +05/26 06:19:37 INFO: [Worker 0] Worker 0 completed house 5320: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:19:37 INFO: [Worker 0] Worker 0 starting house 5401 (index 37/42) [pipeline.py: 473] +05/26 06:19:37 INFO: [Worker 0] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:19:37 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] +05/26 06:19:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_18 [json_eval_task_sampler.py: 648] +05/26 06:19:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/26 06:19:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/26 06:19:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5401_ceiling.xml [task_sampler.py: 797] +05/26 06:19:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5401, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:19:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:19:53 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 06:19:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:19:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:19:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:19:53 INFO: [Worker 0] Sampled task 'Pick up the teal information button and place it in or on the smooth glossy golden bowl' [task_sampler.py: 1136] +05/26 06:19:53 INFO: [Worker 0] Worker 0 house 5401 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:19:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:23:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:26:08 INFO: [Worker 0] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 06:26:12 INFO: [Worker 0] Batching and saving trajectory data for house_5401: 1 episodes [pipeline.py: 233] +05/26 06:26:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:26:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 [save_utils.py: 703] +05/26 06:26:14 INFO: [Worker 0] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) [pipeline.py: 280] +05/26 06:26:15 WARNING: [Worker 0] No trajectory data to save for house_5401 [pipeline.py: 229] +05/26 06:26:15 INFO: [Worker 0] Worker 0 completed house 5401: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:26:15 INFO: [Worker 0] Worker 0 starting house 5436 (index 38/42) [pipeline.py: 473] +05/26 06:26:15 INFO: [Worker 0] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:26:15 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] +05/26 06:26:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/26 06:26:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/26 06:26:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/26 06:26:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5436_ceiling.xml [task_sampler.py: 797] +05/26 06:26:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5436, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:26:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:26:30 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 06:26:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:26:30 INFO: [Worker 0] Sampled task 'Pick up the thin rectangular metallic plaque with image and place it in or on the bright insect design bowl' [task_sampler.py: 1136] +05/26 06:26:30 INFO: [Worker 0] Worker 0 house 5436 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:26:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:28:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:32:57 INFO: [Worker 0] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:33:01 INFO: [Worker 0] Batching and saving trajectory data for house_5436: 1 episodes [pipeline.py: 233] +05/26 06:33:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:33:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:33:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 [save_utils.py: 703] +05/26 06:33:03 INFO: [Worker 0] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/26 06:33:03 WARNING: [Worker 0] No trajectory data to save for house_5436 [pipeline.py: 229] +05/26 06:33:03 INFO: [Worker 0] Worker 0 completed house 5436: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:33:03 INFO: [Worker 0] Worker 0 starting house 5481 (index 39/42) [pipeline.py: 473] +05/26 06:33:03 INFO: [Worker 0] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:33:03 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] +05/26 06:33:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/576495fa2f9749adaca89aa604aa68b0 [json_eval_task_sampler.py: 648] +05/26 06:33:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641 [json_eval_task_sampler.py: 648] +05/26 06:33:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/DecorativeBox2 [json_eval_task_sampler.py: 648] +05/26 06:33:10 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 06:33:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5481_ceiling.xml [task_sampler.py: 797] +05/26 06:33:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5481, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:33:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:33:16 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects [json_eval_task_sampler.py: 686] +05/26 06:33:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:33:16 INFO: [Worker 0] Sampled task 'Pick up the round flask with purple liquid and place it in or on the round small beige bowl' [task_sampler.py: 1136] +05/26 06:33:16 INFO: [Worker 0] Worker 0 house 5481 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:33:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:33:16 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene [object_manager.py: 1238] +05/26 06:33:16 WARNING: [Worker 0] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene [object_manager.py: 1238] +05/26 06:34:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:39:11 INFO: [Worker 0] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 06:39:15 INFO: [Worker 0] Batching and saving trajectory data for house_5481: 1 episodes [pipeline.py: 233] +05/26 06:39:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:39:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 [save_utils.py: 703] +05/26 06:39:18 INFO: [Worker 0] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) [pipeline.py: 280] +05/26 06:39:19 WARNING: [Worker 0] No trajectory data to save for house_5481 [pipeline.py: 229] +05/26 06:39:19 INFO: [Worker 0] Worker 0 completed house 5481: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:39:19 INFO: [Worker 0] Worker 0 starting house 5509 (index 40/42) [pipeline.py: 473] +05/26 06:39:19 INFO: [Worker 0] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:39:19 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] +05/26 06:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/26 06:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a5b29a29005041dca3d8bfbc8c57c7e2 [json_eval_task_sampler.py: 648] +05/26 06:39:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e9670b35612840bd92354dd8936d3c6a [json_eval_task_sampler.py: 648] +05/26 06:39:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5509_ceiling.xml [task_sampler.py: 797] +05/26 06:39:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5509, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:39:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:39:25 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/26 06:39:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:39:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:39:25 INFO: [Worker 0] Sampled task 'Pick up the hinge and place it in or on the stone bowl filled with crystals' [task_sampler.py: 1136] +05/26 06:39:25 INFO: [Worker 0] Worker 0 house 5509 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:39:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:42:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:45:10 INFO: [Worker 0] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 06:45:14 INFO: [Worker 0] Batching and saving trajectory data for house_5509: 1 episodes [pipeline.py: 233] +05/26 06:45:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:45:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:45:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 [save_utils.py: 703] +05/26 06:45:17 INFO: [Worker 0] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) [pipeline.py: 280] +05/26 06:45:17 WARNING: [Worker 0] No trajectory data to save for house_5509 [pipeline.py: 229] +05/26 06:45:17 INFO: [Worker 0] Worker 0 completed house 5509: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:45:17 INFO: [Worker 0] Worker 0 starting house 5549 (index 41/42) [pipeline.py: 473] +05/26 06:45:17 INFO: [Worker 0] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 [json_eval_runner.py: 278] +05/26 06:45:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:45:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c2bd80794a3947238fe610f5733be9d2 [json_eval_task_sampler.py: 648] +05/26 06:45:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/26 06:45:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/26 06:45:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5549_ceiling.xml [task_sampler.py: 797] +05/26 06:45:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5549, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:45:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:45:32 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 06:45:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:45:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:45:32 INFO: [Worker 0] Sampled task 'Pick up the realistic human hand and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 06:45:32 INFO: [Worker 0] Worker 0 house 5549 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:45:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:45:33 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene [object_manager.py: 1238] +05/26 06:45:33 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene [object_manager.py: 1238] +05/26 06:45:33 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene [object_manager.py: 1238] +05/26 06:49:29 INFO: [Worker 0] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 06:49:32 INFO: [Worker 0] Batching and saving trajectory data for house_5549: 1 episodes [pipeline.py: 233] +05/26 06:49:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:49:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:49:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 [save_utils.py: 703] +05/26 06:49:35 INFO: [Worker 0] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) [pipeline.py: 280] +05/26 06:49:36 WARNING: [Worker 0] No trajectory data to save for house_5549 [pipeline.py: 229] +05/26 06:49:36 INFO: [Worker 0] Worker 0 completed house 5549: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:49:36 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/26 06:49:36 INFO: Completed 42 houses, skipped 0 houses [pipeline.py: 1496] +05/26 06:49:36 INFO: Success count: 3, Total count: 47 [pipeline.py: 1499] +05/26 06:49:36 INFO: Success rate: 6.38% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_04/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d33eeaa9e4839f1fc3345db23d5bf89c4e711ec --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/episode_results.jsonl @@ -0,0 +1,47 @@ +{"house_id": "house_3613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular golden chain with links and place it in or on the red clay bowl with zigzag pattern", "object_name": "objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3613", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it in or on the red bowl with zigzags", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3654", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vibrant magenta coil spring on base and place it in or on the organic shaped rustic off-white bowl", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red potato and place it in or on the rustic stone bowl with spout", "object_name": "Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic medallion with embossed inscription and place it in or on the textured rustic gray bowl", "object_name": "objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3794", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware and place it in or on the round gray shallow bowl", "object_name": "objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3881", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue plastic bottle and place it in or on the jade green patterned bowl", "object_name": "objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3911", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden house keyholder and place it in or on the beer mug", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3957", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 115, "task_description": "Pick up the glossy brown goblet cup and place it in or on the simple gray bowl", "object_name": "cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the can opener and place it in or on the rusty metal tray with powdered meat", "object_name": "objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4038", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny brass bullet casing and place it in or on the gray stone bowl", "object_name": "objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple rectangular packet with cupcake image and place it in or on the rustic bowl", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray-purple primitive stone tool and place it in or on the porcelain dish with colorful floral patterns", "object_name": "objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4108", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the security device and place it in or on the rectangular box with sand", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4158", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marble piece with veins and place it in or on the round clay serving dish", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4255", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale stone tool with jagged edges and place it in or on the maroon rectangular box with patterns", "object_name": "objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4316", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 368, "task_description": "Pick up the vibrant flower bouquet and place it in or on the black bowl with colorful grid", "object_name": "objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cheesecake and place it in or on the red and black chicken food container", "object_name": "objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light decorative molding piece with pattern and place it in or on the rectangular box with patterned lid", "object_name": "objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4433", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mounting bracket and place it in or on the red clay bowl with zigzag pattern", "object_name": "objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4433", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream ceramic sugar bowl and place it in or on the red clay bowl with zigzag pattern", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4439", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden lemon squeezer and place it in or on the light gray ceramic bowl shallow", "object_name": "objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4507", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue glossy ceramic vase, rounded and place it in or on the tray", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4551", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dried fish and place it in or on the shallow round bowl with feet", "object_name": "objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4619", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it in or on the smooth gray bowl", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4682", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade and place it in or on the white ceramic bowl with chicken salad", "object_name": "objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4715", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver holding stick carved and place it in or on the colorful ceramic bowl with bird", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic mount and place it in or on the round dark bowl", "object_name": "objamount_b44ed71003e149cc98576162a09d588c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber air blower and place it in or on the tan bowl with dark patterns", "object_name": "objaairblower_c1894126b3394345835758d674b7435e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4819", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 427, "task_description": "Pick up the gray handheld tool with grip and place it in or on the green military box", "object_name": "objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink smooth bowtie and place it in or on the blue pot", "object_name": "objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black stylus and place it in or on the irregular shaped reddish clay bowl", "object_name": "objastylus_afd41dae770041319dec594ab1d3df79_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden rectangular stamp with text and place it in or on the gray bowl", "object_name": "objastamp_34a49861e7744acfb71de471a755e917_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4960", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal rectangular speaker and place it in or on the matte dark gray ceramic bowl", "object_name": "objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5006", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece with dots and place it in or on the square pink geometric box", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the six of clubs card and place it in or on the off-white bowl", "object_name": "objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal emblem with eagle and wings and place it in or on the bowl with rice and peas", "object_name": "objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wedge of yellow cheese with holes and place it in or on the dark gray bowl", "object_name": "objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage iron nutcracker and place it in or on the blue and white ceramic bowl", "object_name": "objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow vase and place it in or on the brown wooden leaf tray", "object_name": "vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5242", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with antenna and place it in or on the green striped bowl", "object_name": "objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact blue fiber cleaver and place it in or on the round wooden bowl with grain", "object_name": "objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5401", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal information button and place it in or on the smooth glossy golden bowl", "object_name": "objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5436", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin rectangular metallic plaque with image and place it in or on the bright insect design bowl", "object_name": "objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round flask with purple liquid and place it in or on the round small beige bowl", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hinge and place it in or on the stone bowl filled with crystals", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it in or on the gray bowl", "object_name": "objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_04/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..b16c9ab9f6db8a12b6803829130960283f6174f8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/eval.log @@ -0,0 +1,1661 @@ +[2026-05-26 01:03:53,519] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,583] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,645] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 01:03:56,468] 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' +[2026-05-26 01:04:10,977] 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() +[2026-05-26 01:04:40,137] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:40,140] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:43,584] 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 +[2026-05-26 01:04:43,661] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:43 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:43,744] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:43 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:43 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/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + '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': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:43,755] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +[05/26 01:04:43 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:43 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'}} +[05/26 01:04:43 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 0/42) +[05/26 01:04:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +2026-05-26 01:05:07.904 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:34,483] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:35,265] 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. +[2026-05-26 01:07:26,938] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:45,931] 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 +[2026-05-26 01:07:45,940] 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 +[05/26 01:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False +[05/26 01:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 01:16:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:22:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False +[05/26 01:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 2 episodes +[05/26 01:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 +[05/26 01:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) +[05/26 01:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/26 01:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 0/2 successful episodes +[05/26 01:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3654 (index 1/42) +[05/26 01:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene +[05/26 01:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False +[05/26 01:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3654: 1 episodes +[05/26 01:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:26:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 01:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3654: 0/1 successful episodes +[05/26 01:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3698 (index 2/42) +[05/26 01:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:26:13 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'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[2026-05-26 01:31:37,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False +[05/26 01:35:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3698: 1 episodes +[05/26 01:35:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:35:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:35:29 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 +[05/26 01:35:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) +[05/26 01:35:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3698 +[05/26 01:35:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3698: 0/1 successful episodes +[05/26 01:35:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3764 (index 3/42) +[05/26 01:35:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:35:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 01:37:25,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:38:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False +[05/26 01:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3764: 1 episodes +[05/26 01:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 +[05/26 01:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) +[05/26 01:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3764 +[05/26 01:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3764: 0/1 successful episodes +[05/26 01:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3794 (index 4/42) +[05/26 01:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 01:47:20,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:47:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False +[05/26 01:49:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3794: 1 episodes +[05/26 01:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:49:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) +[05/26 01:49:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3794: 0/1 successful episodes +[05/26 01:49:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3881 (index 5/42) +[05/26 01:49:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:55:31 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene +[2026-05-26 01:56:31,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False +[05/26 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3881: 1 episodes +[05/26 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:03:33 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 +[05/26 02:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) +[05/26 02:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3881 +[05/26 02:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3881: 0/1 successful episodes +[05/26 02:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3911 (index 6/42) +[05/26 02:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 02:06:27,475] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:11:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False +[05/26 02:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3911: 1 episodes +[05/26 02:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:11:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:11:15 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 +[05/26 02:11:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) +[05/26 02:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3911 +[05/26 02:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3911: 0/1 successful episodes +[05/26 02:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3957 (index 7/42) +[05/26 02:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[2026-05-26 02:13:21,265] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:14:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True +[05/26 02:15:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3957: 1 episodes +[05/26 02:15:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/26 02:15:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:32 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 +[05/26 02:15:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 02:15:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3957 +[05/26 02:15:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3957: 1/1 successful episodes +[05/26 02:15:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3995 (index 8/42) +[05/26 02:15:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:15:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 02:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene +[2026-05-26 02:17:18,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False +[05/26 02:21:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3995: 1 episodes +[05/26 02:21:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:21:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:21:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 +[05/26 02:21:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) +[05/26 02:21:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3995 +[05/26 02:21:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3995: 0/1 successful episodes +[05/26 02:21:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4038 (index 9/42) +[05/26 02:21:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:21:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:23:03,032] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:30:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False +[05/26 02:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4038: 1 episodes +[05/26 02:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:16 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) +[05/26 02:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4038: 0/1 successful episodes +[05/26 02:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4097 (index 10/42) +[05/26 02:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[2026-05-26 02:31:57,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/26 02:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4097: 1 episodes +[05/26 02:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:37:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:37:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 +[05/26 02:37:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) +[05/26 02:37:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4097 +[05/26 02:37:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4097: 0/1 successful episodes +[05/26 02:37:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 11/42) +[05/26 02:37:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:37:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:39:50,125] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False +[05/26 02:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:50:18,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:51:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/26 02:55:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 2 episodes +[05/26 02:55:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 +[05/26 02:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) +[05/26 02:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/26 02:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/2 successful episodes +[05/26 02:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 12/42) +[05/26 02:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[2026-05-26 02:58:33,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:06:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/26 03:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/26 03:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:06:32 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) +[05/26 03:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 0/1 successful episodes +[05/26 03:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 13/42) +[05/26 03:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[2026-05-26 03:09:10,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False +[05/26 03:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/26 03:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 +[05/26 03:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) +[05/26 03:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/26 03:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/26 03:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4316 (index 14/42) +[05/26 03:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:17:20,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:22:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True +[05/26 03:22:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4316: 1 episodes +[05/26 03:22:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 370 timesteps +[05/26 03:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:24 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 +[05/26 03:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) +[05/26 03:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4316 +[05/26 03:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4316: 1/1 successful episodes +[05/26 03:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4359 (index 15/42) +[05/26 03:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 03:23:45,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:27:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False +[05/26 03:27:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4359: 1 episodes +[05/26 03:27:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:27:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:27:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 +[05/26 03:27:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4359 +[05/26 03:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4359: 0/1 successful episodes +[05/26 03:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4390 (index 16/42) +[05/26 03:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene +[2026-05-26 03:29:43,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:36:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False +[05/26 03:36:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4390: 1 episodes +[05/26 03:36:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 +[05/26 03:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 03:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4390 +[05/26 03:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4390: 0/1 successful episodes +[05/26 03:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4433 (index 17/42) +[05/26 03:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:39:37,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:45:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False +[05/26 03:45:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:47:20,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 03:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4433: 2 episodes +[05/26 03:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) +[05/26 03:53:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4433: 0/2 successful episodes +[05/26 03:53:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 18/42) +[05/26 03:53:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:53:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 03:55:39,050] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/26 04:00:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/26 04:00:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 +[05/26 04:00:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) +[05/26 04:00:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/26 04:00:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/26 04:00:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4507 (index 19/42) +[05/26 04:00:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:00:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:02:41,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False +[05/26 04:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4507: 1 episodes +[05/26 04:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 +[05/26 04:07:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) +[05/26 04:07:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4507 +[05/26 04:07:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4507: 0/1 successful episodes +[05/26 04:07:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4551 (index 20/42) +[05/26 04:07:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:07:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +[2026-05-26 04:10:20,251] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/26 04:20:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4551: 1 episodes +[05/26 04:20:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:20:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:20:55 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 +[05/26 04:20:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) +[05/26 04:20:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4551 +[05/26 04:20:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4551: 0/1 successful episodes +[05/26 04:20:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4619 (index 21/42) +[05/26 04:20:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:20:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:22:34,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False +[05/26 04:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4619: 1 episodes +[05/26 04:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:25:37 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 +[05/26 04:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) +[05/26 04:25:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4619 +[05/26 04:25:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4619: 0/1 successful episodes +[05/26 04:25:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 22/42) +[05/26 04:25:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:25:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 04:27:47,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False +[05/26 04:32:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/26 04:32:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:01 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 +[05/26 04:33:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) +[05/26 04:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/26 04:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/26 04:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4715 (index 23/42) +[05/26 04:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 04:34:45,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False +[05/26 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4715: 1 episodes +[05/26 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:05 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) +[05/26 04:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4715: 0/1 successful episodes +[05/26 04:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4749 (index 24/42) +[05/26 04:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:39:18,162] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False +[05/26 04:41:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4749: 1 episodes +[05/26 04:41:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:49 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 +[05/26 04:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) +[05/26 04:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4749 +[05/26 04:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4749: 0/1 successful episodes +[05/26 04:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4792 (index 25/42) +[05/26 04:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:43:46,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:47:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False +[05/26 04:47:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4792: 1 episodes +[05/26 04:47:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:47:54 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 +[05/26 04:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) +[05/26 04:47:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4792 +[05/26 04:47:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4792: 0/1 successful episodes +[05/26 04:47:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4819 (index 26/42) +[05/26 04:47:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:47:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene +[2026-05-26 04:49:53,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True +[05/26 04:53:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4819: 1 episodes +[05/26 04:53:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 429 timesteps +[05/26 04:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:14 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) +[05/26 04:53:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4819: 1/1 successful episodes +[05/26 04:53:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 27/42) +[05/26 04:53:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:53:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 04:54:39,766] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False +[05/26 04:58:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 05:00:31,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False +[05/26 05:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/26 05:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 +[05/26 05:05:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) +[05/26 05:05:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/26 05:05:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/26 05:05:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4880 (index 28/42) +[05/26 05:05:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:05:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:05:39 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene +[2026-05-26 05:07:32,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:15:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False +[05/26 05:15:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4880: 1 episodes +[05/26 05:15:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) +[05/26 05:15:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4880: 0/1 successful episodes +[05/26 05:15:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4960 (index 29/42) +[05/26 05:15:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:15:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 05:17:34,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:18:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False +[05/26 05:21:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4960: 1 episodes +[05/26 05:21:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:33 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 +[05/26 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) +[05/26 05:21:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4960 +[05/26 05:21:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4960: 0/1 successful episodes +[05/26 05:21:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5006 (index 30/42) +[05/26 05:21:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:21:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 05:23:49,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:25:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:29:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False +[05/26 05:30:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5006: 1 episodes +[05/26 05:30:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:06 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 +[05/26 05:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) +[05/26 05:30:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5006 +[05/26 05:30:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5006: 0/1 successful episodes +[05/26 05:30:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5068 (index 31/42) +[05/26 05:30:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:30:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 05:32:10,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False +[05/26 05:37:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5068: 1 episodes +[05/26 05:37:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:25 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 +[05/26 05:37:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) +[05/26 05:37:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5068 +[05/26 05:37:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5068: 0/1 successful episodes +[05/26 05:37:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5134 (index 32/42) +[05/26 05:37:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:37:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 05:38:52,060] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False +[05/26 05:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5134: 1 episodes +[05/26 05:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 +[05/26 05:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) +[05/26 05:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5134 +[05/26 05:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5134: 0/1 successful episodes +[05/26 05:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5173 (index 33/42) +[05/26 05:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:45:13,973] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 05:51:06 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'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:53:13,470] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False +[05/26 05:58:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5173: 2 episodes +[05/26 05:58:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 +[05/26 05:59:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) +[05/26 05:59:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5173 +[05/26 05:59:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5173: 0/2 successful episodes +[05/26 05:59:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 34/42) +[05/26 05:59:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:59:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 05:59:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +[2026-05-26 06:01:05,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False +[05/26 06:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/26 06:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:16 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 +[05/26 06:04:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) +[05/26 06:04:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/26 06:04:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/26 06:04:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5242 (index 35/42) +[05/26 06:04:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:04:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 06:06:37,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:08:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False +[05/26 06:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5242: 1 episodes +[05/26 06:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:17 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 +[05/26 06:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) +[05/26 06:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5242 +[05/26 06:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5242: 0/1 successful episodes +[05/26 06:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5320 (index 36/42) +[05/26 06:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:14:41,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:19:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False +[05/26 06:19:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5320: 1 episodes +[05/26 06:19:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:19:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:19:36 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 +[05/26 06:19:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) +[05/26 06:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5320 +[05/26 06:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5320: 0/1 successful episodes +[05/26 06:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5401 (index 37/42) +[05/26 06:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:19:37 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'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 06:22:05,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:26:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False +[05/26 06:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5401: 1 episodes +[05/26 06:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:26:14 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 +[05/26 06:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) +[05/26 06:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5401 +[05/26 06:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5401: 0/1 successful episodes +[05/26 06:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5436 (index 38/42) +[05/26 06:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:27:51,406] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False +[05/26 06:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5436: 1 episodes +[05/26 06:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:03 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 06:33:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5436: 0/1 successful episodes +[05/26 06:33:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5481 (index 39/42) +[05/26 06:33:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:33:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene +[2026-05-26 06:34:25,372] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False +[05/26 06:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5481: 1 episodes +[05/26 06:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:39:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:39:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 +[05/26 06:39:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) +[05/26 06:39:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5481 +[05/26 06:39:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5481: 0/1 successful episodes +[05/26 06:39:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5509 (index 40/42) +[05/26 06:39:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:39:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 06:41:32,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:42:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/26 06:45:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5509: 1 episodes +[05/26 06:45:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:17 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) +[05/26 06:45:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5509: 0/1 successful episodes +[05/26 06:45:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5549 (index 41/42) +[05/26 06:45:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:45:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene +[2026-05-26 06:46:38,755] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False +[05/26 06:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5549: 1 episodes +[05/26 06:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 +[05/26 06:49:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) +[05/26 06:49:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5549 +[05/26 06:49:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5549: 0/1 successful episodes +[05/26 06:49:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:49:36 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 06:49:36 INFO pipeline.py:1499] Success count: 3, Total count: 47 +[05/26 06:49:36 INFO pipeline.py:1500] Success rate: 6.38% +Combined 47 episodes from 42 files → /tmp/tmp56sfkbfw.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv at-end: 6.38% | oracle: 6.38% of 47 episodes +[2026-05-26 06:49:41,813] INFO MolmoSpaces simulator eval finished: success=3/47 rate=0.0638 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +[2026-05-26 06:49:41,814] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_04/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4a0414d7d8f197c7d9346db1a21dc9d937da1c --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..7d9fef8d3628b61a62efd1fffd8ecc8cbc283d19 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv @@ -0,0 +1,51 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +# 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,Cup,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,25.328977,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.815403,0.0 +latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.081051,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.559613,0.0 +latest,Objabluetoothspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.502081,0.0 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.036984,0.0 +latest,Objabutton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.1151,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.707331,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.756583,0.0 +latest,Objacheesecake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.582778,0.0 +latest,Objacleaningbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.948769,0.0 +latest,Objacoilspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.56728,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.319284,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.455391,0.0 +latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.450539,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.988469,0.0 +latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.113645,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.954576,0.0 +latest,Objaemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.685931,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.1229,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.833168,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.641336,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.815986,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.592289,0.0 +latest,Objahandheldtool,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,74.637802,0.0 +latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.477446,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.346749,0.0 +latest,Objahumanhandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.701879,0.0 +latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.929211,0.0 +latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.672052,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.101091,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.417324,0.0 +latest,Objamount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.621694,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.276553,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.808483,0.0 +latest,Objaplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.908322,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.87031,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.402785,0.0 +latest,Objastamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.276544,0.0 +latest,Objastonetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,13.454305,0.368554 +latest,Objastylus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.804484,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.292057,0.0 +latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.413467,0.0 +latest,Vase,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.268375,5.936432 +latest,OVERALL,3,47,6.38,2.32,17.2,3,6.38,2.32,17.2,34.239485,23.678269 diff --git a/pnp_v2/pnp_v2/shards/shard_04/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_04/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..36d2029bd67f79a6c7ac353a2167948ee26225b0 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/eval/summary.json @@ -0,0 +1,130 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.06382978723404255, + "success_count": 3.0, + "total_episodes": 47.0, + "avg_episode_length": 439.70212765957444, + "oracle_done_rate": 0.06382978723404255, + "success_rate_pct": 6.38, + "oracle_rate_pct": 6.38 + }, + "stats": { + "total_episodes": 47, + "success_count": 3, + "failure_count": 44, + "success_rate": 0.06382978723404255, + "avg_episode_length": 439.70212765957444, + "min_episode_length": 115, + "max_episode_length": 449, + "num_houses": 42, + "house_success_rates": { + "house_3613": 0.0, + "house_3654": 0.0, + "house_3698": 0.0, + "house_3764": 0.0, + "house_3794": 0.0, + "house_3881": 0.0, + "house_3911": 0.0, + "house_3957": 1.0, + "house_3995": 0.0, + "house_4038": 0.0, + "house_4097": 0.0, + "house_4108": 0.0, + "house_4158": 0.0, + "house_4255": 0.0, + "house_4316": 1.0, + "house_4359": 0.0, + "house_4390": 0.0, + "house_4433": 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shallow round bowl with feet", "object_name": "objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4619", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it in or on the smooth gray bowl", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4682", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade and place it in or on the white ceramic bowl with chicken salad", "object_name": "objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4715", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver holding stick carved and place it in or on the colorful ceramic bowl with bird", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic mount and place it in or on the round dark bowl", "object_name": "objamount_b44ed71003e149cc98576162a09d588c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber air blower and place it in or on the tan bowl with dark patterns", "object_name": "objaairblower_c1894126b3394345835758d674b7435e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4819", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 427, "task_description": "Pick up the gray handheld tool with grip and place it in or on the green military box", "object_name": "objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink smooth bowtie and place it in or on the blue pot", "object_name": "objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black stylus and place it in or on the irregular shaped reddish clay bowl", "object_name": "objastylus_afd41dae770041319dec594ab1d3df79_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden rectangular stamp with text and place it in or on the gray bowl", "object_name": "objastamp_34a49861e7744acfb71de471a755e917_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4960", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal rectangular speaker and place it in or on the matte dark gray ceramic bowl", "object_name": "objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5006", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece with dots and place it in or on the square pink geometric box", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the six of clubs card and place it in or on the off-white bowl", "object_name": "objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal emblem with eagle and wings and place it in or on the bowl with rice and peas", "object_name": "objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wedge of yellow cheese with holes and place it in or on the dark gray bowl", "object_name": "objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage iron nutcracker and place it in or on the blue and white ceramic bowl", "object_name": "objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow vase and place it in or on the brown wooden leaf tray", "object_name": "vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5242", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with antenna and place it in or on the green striped bowl", "object_name": "objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact blue fiber cleaver and place it in or on the round wooden bowl with grain", "object_name": "objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5401", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal information button and place it in or on the smooth glossy golden bowl", "object_name": "objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5436", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin rectangular metallic plaque with image and place it in or on the bright insect design bowl", "object_name": "objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round flask with purple liquid and place it in or on the round small beige bowl", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hinge and place it in or on the stone bowl filled with crystals", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it in or on the gray bowl", "object_name": "objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_04/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..b16c9ab9f6db8a12b6803829130960283f6174f8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/eval.log @@ -0,0 +1,1661 @@ +[2026-05-26 01:03:53,519] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,583] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,645] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 01:03:56,468] 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' +[2026-05-26 01:04:10,977] 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() +[2026-05-26 01:04:40,137] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:40,140] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:43,584] 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 +[2026-05-26 01:04:43,661] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:43 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:43,744] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:43 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:43 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/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + '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': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:43,755] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +[05/26 01:04:43 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:43 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'}} +[05/26 01:04:43 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 0/42) +[05/26 01:04:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +2026-05-26 01:05:07.904 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:34,483] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:35,265] 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. +[2026-05-26 01:07:26,938] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:45,931] 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 +[2026-05-26 01:07:45,940] 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 +[05/26 01:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False +[05/26 01:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 01:16:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:22:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False +[05/26 01:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 2 episodes +[05/26 01:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 +[05/26 01:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) +[05/26 01:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/26 01:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 0/2 successful episodes +[05/26 01:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3654 (index 1/42) +[05/26 01:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene +[05/26 01:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False +[05/26 01:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3654: 1 episodes +[05/26 01:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:26:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 01:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3654: 0/1 successful episodes +[05/26 01:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3698 (index 2/42) +[05/26 01:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:26:13 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'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[2026-05-26 01:31:37,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False +[05/26 01:35:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3698: 1 episodes +[05/26 01:35:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:35:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:35:29 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 +[05/26 01:35:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) +[05/26 01:35:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3698 +[05/26 01:35:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3698: 0/1 successful episodes +[05/26 01:35:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3764 (index 3/42) +[05/26 01:35:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:35:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 01:37:25,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:38:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False +[05/26 01:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3764: 1 episodes +[05/26 01:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 +[05/26 01:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) +[05/26 01:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3764 +[05/26 01:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3764: 0/1 successful episodes +[05/26 01:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3794 (index 4/42) +[05/26 01:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 01:47:20,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:47:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False +[05/26 01:49:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3794: 1 episodes +[05/26 01:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:49:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) +[05/26 01:49:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3794: 0/1 successful episodes +[05/26 01:49:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3881 (index 5/42) +[05/26 01:49:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:55:31 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene +[2026-05-26 01:56:31,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False +[05/26 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3881: 1 episodes +[05/26 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:03:33 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 +[05/26 02:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) +[05/26 02:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3881 +[05/26 02:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3881: 0/1 successful episodes +[05/26 02:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3911 (index 6/42) +[05/26 02:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 02:06:27,475] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:11:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False +[05/26 02:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3911: 1 episodes +[05/26 02:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:11:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:11:15 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 +[05/26 02:11:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) +[05/26 02:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3911 +[05/26 02:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3911: 0/1 successful episodes +[05/26 02:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3957 (index 7/42) +[05/26 02:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[2026-05-26 02:13:21,265] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:14:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True +[05/26 02:15:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3957: 1 episodes +[05/26 02:15:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/26 02:15:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:32 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 +[05/26 02:15:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 02:15:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3957 +[05/26 02:15:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3957: 1/1 successful episodes +[05/26 02:15:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3995 (index 8/42) +[05/26 02:15:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:15:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 02:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene +[2026-05-26 02:17:18,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False +[05/26 02:21:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3995: 1 episodes +[05/26 02:21:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:21:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:21:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 +[05/26 02:21:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) +[05/26 02:21:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3995 +[05/26 02:21:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3995: 0/1 successful episodes +[05/26 02:21:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4038 (index 9/42) +[05/26 02:21:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:21:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:23:03,032] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:30:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False +[05/26 02:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4038: 1 episodes +[05/26 02:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:16 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) +[05/26 02:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4038: 0/1 successful episodes +[05/26 02:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4097 (index 10/42) +[05/26 02:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[2026-05-26 02:31:57,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/26 02:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4097: 1 episodes +[05/26 02:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:37:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:37:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 +[05/26 02:37:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) +[05/26 02:37:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4097 +[05/26 02:37:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4097: 0/1 successful episodes +[05/26 02:37:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 11/42) +[05/26 02:37:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:37:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:39:50,125] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False +[05/26 02:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:50:18,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:51:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/26 02:55:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 2 episodes +[05/26 02:55:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 +[05/26 02:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) +[05/26 02:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/26 02:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/2 successful episodes +[05/26 02:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 12/42) +[05/26 02:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[2026-05-26 02:58:33,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:06:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/26 03:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/26 03:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:06:32 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) +[05/26 03:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 0/1 successful episodes +[05/26 03:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 13/42) +[05/26 03:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[2026-05-26 03:09:10,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False +[05/26 03:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/26 03:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 +[05/26 03:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) +[05/26 03:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/26 03:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/26 03:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4316 (index 14/42) +[05/26 03:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:17:20,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:22:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True +[05/26 03:22:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4316: 1 episodes +[05/26 03:22:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 370 timesteps +[05/26 03:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:24 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 +[05/26 03:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) +[05/26 03:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4316 +[05/26 03:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4316: 1/1 successful episodes +[05/26 03:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4359 (index 15/42) +[05/26 03:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 03:23:45,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:27:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False +[05/26 03:27:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4359: 1 episodes +[05/26 03:27:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:27:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:27:13 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 +[05/26 03:27:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4359 +[05/26 03:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4359: 0/1 successful episodes +[05/26 03:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4390 (index 16/42) +[05/26 03:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene +[2026-05-26 03:29:43,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:36:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False +[05/26 03:36:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4390: 1 episodes +[05/26 03:36:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 +[05/26 03:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 03:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4390 +[05/26 03:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4390: 0/1 successful episodes +[05/26 03:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4433 (index 17/42) +[05/26 03:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:39:37,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:45:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False +[05/26 03:45:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:47:20,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 03:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4433: 2 episodes +[05/26 03:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) +[05/26 03:53:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4433: 0/2 successful episodes +[05/26 03:53:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 18/42) +[05/26 03:53:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:53:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 03:55:39,050] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/26 04:00:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/26 04:00:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:28 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 +[05/26 04:00:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) +[05/26 04:00:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/26 04:00:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/26 04:00:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4507 (index 19/42) +[05/26 04:00:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:00:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:02:41,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False +[05/26 04:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4507: 1 episodes +[05/26 04:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 +[05/26 04:07:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) +[05/26 04:07:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4507 +[05/26 04:07:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4507: 0/1 successful episodes +[05/26 04:07:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4551 (index 20/42) +[05/26 04:07:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:07:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +[2026-05-26 04:10:20,251] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/26 04:20:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4551: 1 episodes +[05/26 04:20:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:20:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:20:55 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 +[05/26 04:20:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) +[05/26 04:20:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4551 +[05/26 04:20:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4551: 0/1 successful episodes +[05/26 04:20:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4619 (index 21/42) +[05/26 04:20:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:20:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:22:34,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False +[05/26 04:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4619: 1 episodes +[05/26 04:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:25:37 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 +[05/26 04:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) +[05/26 04:25:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4619 +[05/26 04:25:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4619: 0/1 successful episodes +[05/26 04:25:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 22/42) +[05/26 04:25:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:25:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 04:27:47,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False +[05/26 04:32:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/26 04:32:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:01 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 +[05/26 04:33:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) +[05/26 04:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/26 04:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/26 04:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4715 (index 23/42) +[05/26 04:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 04:34:45,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False +[05/26 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4715: 1 episodes +[05/26 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:05 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) +[05/26 04:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4715: 0/1 successful episodes +[05/26 04:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4749 (index 24/42) +[05/26 04:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:39:18,162] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False +[05/26 04:41:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4749: 1 episodes +[05/26 04:41:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:49 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 +[05/26 04:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) +[05/26 04:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4749 +[05/26 04:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4749: 0/1 successful episodes +[05/26 04:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4792 (index 25/42) +[05/26 04:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:43:46,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:47:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False +[05/26 04:47:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4792: 1 episodes +[05/26 04:47:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:47:54 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 +[05/26 04:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) +[05/26 04:47:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4792 +[05/26 04:47:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4792: 0/1 successful episodes +[05/26 04:47:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4819 (index 26/42) +[05/26 04:47:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:47:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene +[2026-05-26 04:49:53,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True +[05/26 04:53:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4819: 1 episodes +[05/26 04:53:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 429 timesteps +[05/26 04:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:14 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) +[05/26 04:53:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4819: 1/1 successful episodes +[05/26 04:53:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 27/42) +[05/26 04:53:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:53:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 04:54:39,766] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False +[05/26 04:58:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 05:00:31,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False +[05/26 05:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/26 05:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 +[05/26 05:05:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) +[05/26 05:05:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/26 05:05:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/26 05:05:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4880 (index 28/42) +[05/26 05:05:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:05:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:05:39 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene +[2026-05-26 05:07:32,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:15:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False +[05/26 05:15:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4880: 1 episodes +[05/26 05:15:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) +[05/26 05:15:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4880: 0/1 successful episodes +[05/26 05:15:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4960 (index 29/42) +[05/26 05:15:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:15:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 05:17:34,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:18:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False +[05/26 05:21:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4960: 1 episodes +[05/26 05:21:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:33 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 +[05/26 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) +[05/26 05:21:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4960 +[05/26 05:21:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4960: 0/1 successful episodes +[05/26 05:21:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5006 (index 30/42) +[05/26 05:21:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:21:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 05:23:49,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:25:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:29:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False +[05/26 05:30:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5006: 1 episodes +[05/26 05:30:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:06 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 +[05/26 05:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) +[05/26 05:30:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5006 +[05/26 05:30:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5006: 0/1 successful episodes +[05/26 05:30:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5068 (index 31/42) +[05/26 05:30:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:30:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 05:32:10,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False +[05/26 05:37:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5068: 1 episodes +[05/26 05:37:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:25 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 +[05/26 05:37:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) +[05/26 05:37:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5068 +[05/26 05:37:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5068: 0/1 successful episodes +[05/26 05:37:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5134 (index 32/42) +[05/26 05:37:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:37:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 05:38:52,060] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False +[05/26 05:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5134: 1 episodes +[05/26 05:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 +[05/26 05:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) +[05/26 05:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5134 +[05/26 05:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5134: 0/1 successful episodes +[05/26 05:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5173 (index 33/42) +[05/26 05:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:45:13,973] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 05:51:06 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'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:53:13,470] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False +[05/26 05:58:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5173: 2 episodes +[05/26 05:58:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 +[05/26 05:59:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) +[05/26 05:59:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5173 +[05/26 05:59:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5173: 0/2 successful episodes +[05/26 05:59:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 34/42) +[05/26 05:59:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:59:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 05:59:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +[2026-05-26 06:01:05,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False +[05/26 06:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/26 06:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:16 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 +[05/26 06:04:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) +[05/26 06:04:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/26 06:04:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/26 06:04:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5242 (index 35/42) +[05/26 06:04:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:04:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 06:06:37,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:08:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False +[05/26 06:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5242: 1 episodes +[05/26 06:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:17 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 +[05/26 06:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) +[05/26 06:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5242 +[05/26 06:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5242: 0/1 successful episodes +[05/26 06:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5320 (index 36/42) +[05/26 06:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:14:41,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:19:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False +[05/26 06:19:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5320: 1 episodes +[05/26 06:19:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:19:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:19:36 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 +[05/26 06:19:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) +[05/26 06:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5320 +[05/26 06:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5320: 0/1 successful episodes +[05/26 06:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5401 (index 37/42) +[05/26 06:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:19:37 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'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 06:22:05,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:26:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False +[05/26 06:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5401: 1 episodes +[05/26 06:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:26:14 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 +[05/26 06:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) +[05/26 06:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5401 +[05/26 06:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5401: 0/1 successful episodes +[05/26 06:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5436 (index 38/42) +[05/26 06:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:27:51,406] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False +[05/26 06:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5436: 1 episodes +[05/26 06:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:03 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 06:33:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5436: 0/1 successful episodes +[05/26 06:33:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5481 (index 39/42) +[05/26 06:33:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:33:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene +[2026-05-26 06:34:25,372] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False +[05/26 06:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5481: 1 episodes +[05/26 06:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:39:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:39:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 +[05/26 06:39:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) +[05/26 06:39:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5481 +[05/26 06:39:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5481: 0/1 successful episodes +[05/26 06:39:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5509 (index 40/42) +[05/26 06:39:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:39:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 06:41:32,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:42:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/26 06:45:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5509: 1 episodes +[05/26 06:45:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:17 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/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) +[05/26 06:45:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5509: 0/1 successful episodes +[05/26 06:45:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5549 (index 41/42) +[05/26 06:45:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:45:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene +[2026-05-26 06:46:38,755] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False +[05/26 06:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5549: 1 episodes +[05/26 06:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 +[05/26 06:49:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) +[05/26 06:49:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5549 +[05/26 06:49:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5549: 0/1 successful episodes +[05/26 06:49:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:49:36 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 06:49:36 INFO pipeline.py:1499] Success count: 3, Total count: 47 +[05/26 06:49:36 INFO pipeline.py:1500] Success rate: 6.38% +Combined 47 episodes from 42 files → /tmp/tmp56sfkbfw.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv at-end: 6.38% | oracle: 6.38% of 47 episodes +[2026-05-26 06:49:41,813] INFO MolmoSpaces simulator eval finished: success=3/47 rate=0.0638 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +[2026-05-26 06:49:41,814] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_04/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4a0414d7d8f197c7d9346db1a21dc9d937da1c --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_04/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..7d9fef8d3628b61a62efd1fffd8ecc8cbc283d19 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/results.csv @@ -0,0 +1,51 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +# 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,Cup,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,25.328977,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.815403,0.0 +latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.081051,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.559613,0.0 +latest,Objabluetoothspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.502081,0.0 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.036984,0.0 +latest,Objabutton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.1151,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.707331,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.756583,0.0 +latest,Objacheesecake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.582778,0.0 +latest,Objacleaningbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.948769,0.0 +latest,Objacoilspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.56728,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.319284,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.455391,0.0 +latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.450539,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.988469,0.0 +latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.113645,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.954576,0.0 +latest,Objaemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.685931,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.1229,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.833168,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.641336,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.815986,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.592289,0.0 +latest,Objahandheldtool,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,74.637802,0.0 +latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.477446,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.346749,0.0 +latest,Objahumanhandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.701879,0.0 +latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.929211,0.0 +latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.672052,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.101091,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.417324,0.0 +latest,Objamount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.621694,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.276553,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.808483,0.0 +latest,Objaplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.908322,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.87031,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.402785,0.0 +latest,Objastamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.276544,0.0 +latest,Objastonetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,13.454305,0.368554 +latest,Objastylus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.804484,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.292057,0.0 +latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.413467,0.0 +latest,Vase,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.268375,5.936432 +latest,OVERALL,3,47,6.38,2.32,17.2,3,6.38,2.32,17.2,34.239485,23.678269 diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_04/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..aab71ab90202695d2cf02bb373a91d553373c674 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/shard_04_results.csv b/pnp_v2/pnp_v2/shards/shard_04/submission/shard_04_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..7d9fef8d3628b61a62efd1fffd8ecc8cbc283d19 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/shard_04_results.csv @@ -0,0 +1,51 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +# 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,Cup,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,25.328977,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.815403,0.0 +latest,Objaairblower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.081051,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.559613,0.0 +latest,Objabluetoothspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.502081,0.0 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.036984,0.0 +latest,Objabutton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.1151,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.707331,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.756583,0.0 +latest,Objacheesecake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.582778,0.0 +latest,Objacleaningbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.948769,0.0 +latest,Objacoilspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.56728,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.319284,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.455391,0.0 +latest,Objadecorativemolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.450539,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.988469,0.0 +latest,Objadomino,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.113645,0.0 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.954576,0.0 +latest,Objaemblem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.685931,0.0 +latest,Objafibercleaver,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.1229,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.833168,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.641336,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.815986,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.592289,0.0 +latest,Objahandheldtool,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,74.637802,0.0 +latest,Objaheadpiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.477446,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.346749,0.0 +latest,Objahumanhandmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.701879,0.0 +latest,Objakeyholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.929211,0.0 +latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.672052,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.101091,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.417324,0.0 +latest,Objamount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.621694,0.0 +latest,Objamountingbracket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.276553,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.808483,0.0 +latest,Objaplaque,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.908322,0.0 +latest,Objaplayingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.87031,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.402785,0.0 +latest,Objastamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.276544,0.0 +latest,Objastonetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,13.454305,0.368554 +latest,Objastylus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.804484,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.292057,0.0 +latest,Objawoodencarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.413467,0.0 +latest,Vase,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.268375,5.936432 +latest,OVERALL,3,47,6.38,2.32,17.2,3,6.38,2.32,17.2,34.239485,23.678269 diff --git a/pnp_v2/pnp_v2/shards/shard_04/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_04/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..08e6c8830540631725470a7dc62a22143c8e9369 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/submission_manifest.json @@ -0,0 +1,88 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04", + "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": 0.06382978723404255, + "success_count": 3.0, + "total_episodes": 47.0, + "avg_episode_length": 439.70212765957444, + "oracle_done_rate": 0.06382978723404255, + "success_rate_pct": 6.38, + "oracle_rate_pct": 6.38 + }, + "stats": { + "total_episodes": 47, + "success_count": 3, + "failure_count": 44, + "success_rate": 0.06382978723404255, + "avg_episode_length": 439.70212765957444, + "min_episode_length": 115, + "max_episode_length": 449, + "num_houses": 42, + "house_success_rates": { + "house_3613": 0.0, + "house_3654": 0.0, + "house_3698": 0.0, + "house_3764": 0.0, + "house_3794": 0.0, + "house_3881": 0.0, + "house_3911": 0.0, + "house_3957": 1.0, + "house_3995": 0.0, + "house_4038": 0.0, + "house_4097": 0.0, + "house_4108": 0.0, + "house_4158": 0.0, + "house_4255": 0.0, + "house_4316": 1.0, + "house_4359": 0.0, + "house_4390": 0.0, + "house_4433": 0.0, + "house_4439": 0.0, + "house_4507": 0.0, + "house_4551": 0.0, + "house_4619": 0.0, + "house_4682": 0.0, + "house_4715": 0.0, + "house_4749": 0.0, + "house_4792": 0.0, + "house_4819": 1.0, + "house_4837": 0.0, + "house_4880": 0.0, + "house_4960": 0.0, + "house_5006": 0.0, + "house_5068": 0.0, + "house_5134": 0.0, + "house_5173": 0.0, + "house_5185": 0.0, + "house_5242": 0.0, + "house_5320": 0.0, + "house_5401": 0.0, + "house_5436": 0.0, + "house_5481": 0.0, + "house_5509": 0.0, + "house_5549": 0.0 + }, + "oracle_done_count": 3, + "oracle_done_rate": 0.06382978723404255, + "avg_successful_episode_length": 303.3333333333333 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/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/pnp_v2/pnp_v2/shards/shard_04/submission/summary.json b/pnp_v2/pnp_v2/shards/shard_04/submission/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..36d2029bd67f79a6c7ac353a2167948ee26225b0 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/submission/summary.json @@ -0,0 +1,130 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.06382978723404255, + "success_count": 3.0, + "total_episodes": 47.0, + "avg_episode_length": 439.70212765957444, + "oracle_done_rate": 0.06382978723404255, + "success_rate_pct": 6.38, + "oracle_rate_pct": 6.38 + }, + "stats": { + "total_episodes": 47, + "success_count": 3, + "failure_count": 44, + "success_rate": 0.06382978723404255, + "avg_episode_length": 439.70212765957444, + "min_episode_length": 115, + "max_episode_length": 449, + "num_houses": 42, + "house_success_rates": { + "house_3613": 0.0, + "house_3654": 0.0, + "house_3698": 0.0, + "house_3764": 0.0, + "house_3794": 0.0, + "house_3881": 0.0, + "house_3911": 0.0, + "house_3957": 1.0, + "house_3995": 0.0, + "house_4038": 0.0, + "house_4097": 0.0, + "house_4108": 0.0, + "house_4158": 0.0, + "house_4255": 0.0, + "house_4316": 1.0, + "house_4359": 0.0, + "house_4390": 0.0, + "house_4433": 0.0, + "house_4439": 0.0, + "house_4507": 0.0, + "house_4551": 0.0, + "house_4619": 0.0, + "house_4682": 0.0, + "house_4715": 0.0, + "house_4749": 0.0, + "house_4792": 0.0, + "house_4819": 1.0, + "house_4837": 0.0, + "house_4880": 0.0, + "house_4960": 0.0, + "house_5006": 0.0, + "house_5068": 0.0, + "house_5134": 0.0, + "house_5173": 0.0, + "house_5185": 0.0, + "house_5242": 0.0, + "house_5320": 0.0, + "house_5401": 0.0, + "house_5436": 0.0, + "house_5481": 0.0, + "house_5509": 0.0, + "house_5549": 0.0 + }, + "oracle_done_count": 3, + "oracle_done_rate": 0.06382978723404255, + "avg_successful_episode_length": 303.3333333333333 + }, + "success_count": 3, + "total_count": 47, + "success_rate": 0.06382978723404255, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 3, + "total": 47, + "success_rate_pct": 6.38, + "ci_95_low_pct": 2.32, + "ci_95_high_pct": 17.2, + "oracle_successes": 3, + "oracle_rate_pct": 6.38, + "oracle_ci_95_low_pct": 2.32, + "oracle_ci_95_high_pct": 17.2, + "jerk_joint_mean": 34.239485, + "jerk_joint_std": 23.678269 + }, + "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/pnp_v2/pnp_v2/shards/shard_06/run.log b/pnp_v2/pnp_v2/shards/shard_06/run.log new file mode 100644 index 0000000000000000000000000000000000000000..02301b8bbe382ec13421649484529f1a2a603f45 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_06/run.log @@ -0,0 +1,1646 @@ +[2026-05-26 01:03:53,419] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,539] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,559] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 01:03:56,406] 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' +[2026-05-26 01:04:12,109] 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() +[2026-05-26 01:04:43,340] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:43,343] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:46,645] 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 +[2026-05-26 01:04:46,686] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:46 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:46,754] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:46 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:46 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/pnp_v2/pnp_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446'), + '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': [3665, + 3712, + 3723, + 3772, + 3839, + 3890, + 3939, + 3969, + 4008, + 4043, + 4130, + 4169, + 4174, + 4258, + 4329, + 4370, + 4404, + 4455, + 4512, + 4561, + 4572, + 4636, + 4691, + 4726, + 4751, + 4798, + 4847, + 4904, + 4976, + 4978, + 5013, + 5096, + 5160, + 5182, + 5197, + 5266, + 5327, + 5416, + 5453, + 5483, + 5521, + 5559], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:46,780] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446 +[05/26 01:04:46 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:46 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'}} +[05/26 01:04:46 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3665 (index 0/42) +[05/26 01:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +2026-05-26 01:06:02.889 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:36,223] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:36,628] 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. +[2026-05-26 01:08:45,496] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:00,886] 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 +[2026-05-26 01:09:00,890] 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 +[05/26 01:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=False +[05/26 01:13:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3665: 1 episodes +[05/26 01:13:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:30 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3665 +[05/26 01:13:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3665 in 4.79s (batch: 4.61s, save: 0.18s) +[05/26 01:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3665 +[05/26 01:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3665: 0/1 successful episodes +[05/26 01:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3712 (index 1/42) +[05/26 01:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 01:16:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:23:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 0 object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 completed with success=False +[05/26 01:23:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:25:04,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:27:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 1 object objapuzzlepiece_e7fe38d96d064df9bafb114760ffe2ad_1_0_6 completed with success=False +[05/26 01:27:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3712: 2 episodes +[05/26 01:27:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3712 +[05/26 01:28:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3712 in 5.26s (batch: 5.08s, save: 0.18s) +[05/26 01:28:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3712 +[05/26 01:28:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3712: 0/2 successful episodes +[05/26 01:28:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 2/42) +[05/26 01:28:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:28:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +[2026-05-26 01:35:07,728] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:36:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:40:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_7 completed with success=False +[05/26 01:41:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/26 01:41:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:41:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:41:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3723 +[05/26 01:41:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 3.23s (batch: 3.13s, save: 0.10s) +[05/26 01:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/26 01:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/26 01:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3772 (index 3/42) +[05/26 01:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:41:05 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'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:56,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3772 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_2 completed with success=False +[05/26 01:46:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3772: 1 episodes +[05/26 01:46:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:15 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3772 +[05/26 01:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3772 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 01:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3772 +[05/26 01:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3772: 0/1 successful episodes +[05/26 01:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3839 (index 4/42) +[05/26 01:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3839 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 01:56:37,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:04:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3839 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_6 completed with success=False +[05/26 02:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3839: 1 episodes +[05/26 02:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:04:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:04:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3839 +[05/26 02:04:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3839 in 3.65s (batch: 3.41s, save: 0.23s) +[05/26 02:04:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3839 +[05/26 02:04:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3839: 0/1 successful episodes +[05/26 02:04:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3890 (index 5/42) +[05/26 02:04:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:04:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaankleboot_516145ceb6df4f3b81bd1aaf62f6a857_1_0_6 in scene +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_6 in scene +[2026-05-26 02:07:01,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3890 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 02:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3890: 1 episodes +[05/26 02:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:13:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:13:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3890 +[05/26 02:13:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3890 in 3.56s (batch: 3.39s, save: 0.17s) +[05/26 02:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3890 +[05/26 02:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3890: 0/1 successful episodes +[05/26 02:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3939 (index 6/42) +[05/26 02:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 02:15:56,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:19:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 3939 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/26 02:19:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3939: 1 episodes +[05/26 02:19:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:00 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3939 in 2.92s (batch: 2.71s, save: 0.21s) +[05/26 02:20:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3939: 0/1 successful episodes +[05/26 02:20:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3969 (index 7/42) +[05/26 02:20:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:20:00 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'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[2026-05-26 02:22:16,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3969 episode 0 object objariflescope_78fdc6141bcc4bd483f1c4842ab654b3_1_0_7 completed with success=False +[05/26 02:30:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3969: 1 episodes +[05/26 02:30:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:55 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3969 +[05/26 02:30:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3969 in 2.80s (batch: 2.69s, save: 0.12s) +[05/26 02:30:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3969 +[05/26 02:30:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3969: 0/1 successful episodes +[05/26 02:30:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4008 (index 8/42) +[05/26 02:30:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:30:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 02:32:14,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4008 episode 0 object objabirdfigurine_2696c895e65a4343871e59d9fbaf121d_1_0_7 completed with success=False +[05/26 02:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4008: 1 episodes +[05/26 02:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4008 +[05/26 02:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4008 in 3.23s (batch: 3.07s, save: 0.16s) +[05/26 02:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4008 +[05/26 02:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4008: 0/1 successful episodes +[05/26 02:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4043 (index 9/42) +[05/26 02:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:39:02,493] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4043 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_2 completed with success=False +[05/26 02:49:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4043: 1 episodes +[05/26 02:49:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4043 +[05/26 02:49:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4043 in 3.69s (batch: 3.47s, save: 0.21s) +[05/26 02:49:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4043 +[05/26 02:49:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4043: 0/1 successful episodes +[05/26 02:49:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4130 (index 10/42) +[05/26 02:49:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:49:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:51:07,403] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:01:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4130 episode 0 object objapendant_b12437d577704653ae875d817cb89804_1_0_6 completed with success=False +[05/26 03:01:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4130: 1 episodes +[05/26 03:01:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:34 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4130 +[05/26 03:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4130 in 4.79s (batch: 4.47s, save: 0.32s) +[05/26 03:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4130 +[05/26 03:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4130: 0/1 successful episodes +[05/26 03:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4169 (index 11/42) +[05/26 03:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene +[2026-05-26 03:04:07,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4169 episode 0 object objatelegraphkey_f63e60ed88ca405790c0c5aef3e03dfc_2_0_9 completed with success=False +[05/26 03:11:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4169: 1 episodes +[05/26 03:11:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:03 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4169 +[05/26 03:12:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4169 in 3.91s (batch: 3.68s, save: 0.23s) +[05/26 03:12:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4169 +[05/26 03:12:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4169: 0/1 successful episodes +[05/26 03:12:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4174 (index 12/42) +[05/26 03:12:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:12:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:14:11,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 03:18:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:20:31,456] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 1 object objarubbermallet_2de2cbb69ad44bc3ae2e01eacce9f174_1_0_2 completed with success=False +[05/26 03:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4174: 2 episodes +[05/26 03:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4174 +[05/26 03:23:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4174 in 5.09s (batch: 4.90s, save: 0.18s) +[05/26 03:23:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4174 +[05/26 03:23:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4174: 0/2 successful episodes +[05/26 03:23:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4258 (index 13/42) +[05/26 03:23:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:23:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 03:25:22,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:26:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4258 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_4 completed with success=False +[05/26 03:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4258: 1 episodes +[05/26 03:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:38 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4258 +[05/26 03:30:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4258 in 3.94s (batch: 3.77s, save: 0.17s) +[05/26 03:30:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4258 +[05/26 03:30:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4258: 0/1 successful episodes +[05/26 03:30:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 14/42) +[05/26 03:30:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:30:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 03:30:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:32:58,254] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:43:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objaswissarmyknife_9a1047f51ca5495f9ddfe3c024a1d8cd_1_0_2 completed with success=False +[05/26 03:43:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/26 03:43:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 3.32s (batch: 3.11s, save: 0.22s) +[05/26 03:43:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/26 03:43:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4370 (index 15/42) +[05/26 03:43:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4370 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:43:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 03:44:28,491] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:44:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4370 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_7 completed with success=False +[05/26 03:50:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4370: 1 episodes +[05/26 03:50:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:50:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:50:24 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4370 +[05/26 03:50:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4370 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:50:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4370 +[05/26 03:50:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4370: 0/1 successful episodes +[05/26 03:50:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4404 (index 16/42) +[05/26 03:50:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:50:25 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'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 03:52:58,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:58:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4404 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_2 completed with success=False +[05/26 03:58:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4404: 1 episodes +[05/26 03:58:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:58:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:58:23 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4404 +[05/26 03:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4404 in 3.32s (batch: 3.16s, save: 0.16s) +[05/26 03:58:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4404 +[05/26 03:58:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4404: 0/1 successful episodes +[05/26 03:58:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4455 (index 17/42) +[05/26 03:58:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:58:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_c7c03844ef594964985305267911cc9e_1_0_8 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_8 in scene +[2026-05-26 04:00:47,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4455 episode 0 object objapettoy_c45af57d9a3c47a58da36db2a5d425dd_1_0_9 completed with success=False +[05/26 04:06:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4455: 1 episodes +[05/26 04:06:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:24 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4455 +[05/26 04:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4455 in 2.68s (batch: 2.55s, save: 0.13s) +[05/26 04:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4455 +[05/26 04:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4455: 0/1 successful episodes +[05/26 04:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4512 (index 18/42) +[05/26 04:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:07:51,930] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4512 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 04:16:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4512: 1 episodes +[05/26 04:16:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:17:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:17:03 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4512 +[05/26 04:17:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4512 in 4.65s (batch: 4.30s, save: 0.35s) +[05/26 04:17:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4512 +[05/26 04:17:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4512: 0/1 successful episodes +[05/26 04:17:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4561 (index 19/42) +[05/26 04:17:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:17:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:19:39,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 0 object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_3 completed with success=False +[05/26 04:24:38 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'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:26:14,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:27:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 1 object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 completed with success=False +[05/26 04:32:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4561: 2 episodes +[05/26 04:32:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4561 +[05/26 04:32:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4561 in 6.84s (batch: 6.65s, save: 0.19s) +[05/26 04:32:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4561 +[05/26 04:32:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4561: 0/2 successful episodes +[05/26 04:32:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4572 (index 20/42) +[05/26 04:32:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:32:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:32:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 in scene +[2026-05-26 04:34:10,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4572 episode 0 object objadecorativering_34fefad109df4779891b57164c5e2106_1_0_4 completed with success=False +[05/26 04:37:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4572: 1 episodes +[05/26 04:37:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:37:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:37:21 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4572 +[05/26 04:37:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4572 in 2.47s (batch: 2.38s, save: 0.10s) +[05/26 04:37:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4572 +[05/26 04:37:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4572: 0/1 successful episodes +[05/26 04:37:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 21/42) +[05/26 04:37:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:37:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 04:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:38:42,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:41:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_4 completed with success=False +[05/26 04:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/26 04:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4636 +[05/26 04:41:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.67s (batch: 2.53s, save: 0.14s) +[05/26 04:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/26 04:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/26 04:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4691 (index 22/42) +[05/26 04:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 04:43:47,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4691 episode 0 object objabeveragecup_398d3a50f3e7446d980275f5b52c99a4_2_0_6 completed with success=False +[05/26 04:48:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4691: 1 episodes +[05/26 04:48:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:09 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4691 in 2.93s (batch: 2.80s, save: 0.13s) +[05/26 04:48:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4691: 0/1 successful episodes +[05/26 04:48:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 23/42) +[05/26 04:48:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:48:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:50:05,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object objametalrodassembly_88e1ab84b33e4a98b69c1c51c24d751a_1_0_3 completed with success=False +[05/26 04:54:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/26 04:54:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4726 +[05/26 04:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/26 04:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/26 04:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4751 (index 24/42) +[05/26 04:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_6 in scene +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object bread_02590a72dc962788d308c804909b928a_1_0_6 in scene +[2026-05-26 04:55:34,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4751 episode 0 object objahandhelddevice_ed35515f702047138b8bf5c24ddf4dc8_1_0_7 completed with success=False +[05/26 05:00:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4751: 1 episodes +[05/26 05:00:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4751 +[05/26 05:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4751 in 3.71s (batch: 3.56s, save: 0.15s) +[05/26 05:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4751 +[05/26 05:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4751: 0/1 successful episodes +[05/26 05:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4798 (index 25/42) +[05/26 05:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4798 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:00:12 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'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_fb2444b26d283b973886df173510fd4c_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_ae30801e5e2a8cbd9f5009e82af4c8fd_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene +[2026-05-26 05:02:17,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:03:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:06:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4798 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/26 05:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4798: 1 episodes +[05/26 05:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:06:50 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4798 +[05/26 05:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4798 in 3.19s (batch: 3.07s, save: 0.13s) +[05/26 05:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4798 +[05/26 05:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4798: 0/1 successful episodes +[05/26 05:06:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4847 (index 26/42) +[05/26 05:06:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:06:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 05:09:17,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:15:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4847 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_4 completed with success=False +[05/26 05:15:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4847: 1 episodes +[05/26 05:15:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:59 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4847 +[05/26 05:15:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4847 in 3.60s (batch: 3.33s, save: 0.27s) +[05/26 05:16:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4847 +[05/26 05:16:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4847: 0/1 successful episodes +[05/26 05:16:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4904 (index 27/42) +[05/26 05:16:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4904 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:16:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawallet_45e061790f364b1da9ff876382adca02_1_0_2 in scene +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_2 in scene +[2026-05-26 05:18:19,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:22:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4904 episode 0 object objaminiaturetoriigate_4d32377790044e12b31f4363f1bab859_1_0_2 completed with success=False +[05/26 05:22:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4904: 1 episodes +[05/26 05:22:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:55 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4904 in 2.98s (batch: 2.84s, save: 0.13s) +[05/26 05:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4904: 0/1 successful episodes +[05/26 05:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4976 (index 28/42) +[05/26 05:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 05:23:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:25:12,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4976 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/26 05:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4976: 1 episodes +[05/26 05:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:00 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4976 in 2.94s (batch: 2.80s, save: 0.14s) +[05/26 05:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4976: 0/1 successful episodes +[05/26 05:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4978 (index 29/42) +[05/26 05:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:33:13,807] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/26 05:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:39:02,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:43:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 1 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_2 completed with success=False +[05/26 05:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4978: 2 episodes +[05/26 05:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4978 +[05/26 05:43:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4978 in 8.35s (batch: 7.94s, save: 0.41s) +[05/26 05:43:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4978 +[05/26 05:43:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4978: 0/2 successful episodes +[05/26 05:43:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5013 (index 30/42) +[05/26 05:43:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:43:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:46:05,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:47:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:50:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5013 episode 0 object objagavel_baa1dde4878b41599636183f29692ac7_1_0_2 completed with success=False +[05/26 05:50:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5013: 1 episodes +[05/26 05:50:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:44 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5013 +[05/26 05:50:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5013 in 3.57s (batch: 3.45s, save: 0.12s) +[05/26 05:50:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5013 +[05/26 05:50:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5013: 0/1 successful episodes +[05/26 05:50:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5096 (index 31/42) +[05/26 05:50:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:50:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[2026-05-26 05:53:12,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5096 episode 0 object objaocarina_46450ccd99c6486f8b25e94e1bc8646e_1_0_8 completed with success=False +[05/26 06:01:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5096: 1 episodes +[05/26 06:01:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:05 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5096 +[05/26 06:01:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5096 in 2.71s (batch: 2.61s, save: 0.10s) +[05/26 06:01:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5096 +[05/26 06:01:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5096: 0/1 successful episodes +[05/26 06:01:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5160 (index 32/42) +[05/26 06:01:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5160 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:01:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:02:17,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:02:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:06:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5160 episode 0 object objasneaker_14ee7c51811d4661aeba588851bafd7c_1_0_5 completed with success=False +[05/26 06:06:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5160: 1 episodes +[05/26 06:06:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:06:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:06:16 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5160 +[05/26 06:06:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5160 in 3.73s (batch: 3.59s, save: 0.13s) +[05/26 06:06:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5160 +[05/26 06:06:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5160: 0/1 successful episodes +[05/26 06:06:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5182 (index 33/42) +[05/26 06:06:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:06:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:08:52,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/26 06:14:53 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'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:16:41,193] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_7 completed with success=False +[05/26 06:22:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5182: 2 episodes +[05/26 06:22:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5182 +[05/26 06:22:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5182 in 6.83s (batch: 6.55s, save: 0.28s) +[05/26 06:22:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5182 +[05/26 06:22:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5182: 0/2 successful episodes +[05/26 06:22:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5197 (index 34/42) +[05/26 06:22:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:22:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 06:24:31,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5197 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:27:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5197: 1 episodes +[05/26 06:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5197 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 06:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5197: 0/1 successful episodes +[05/26 06:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5266 (index 35/42) +[05/26 06:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:27:58 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'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:29:57,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:30:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False +[05/26 06:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5266: 1 episodes +[05/26 06:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:24 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5266 in 2.54s (batch: 2.44s, save: 0.10s) +[05/26 06:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5266: 0/1 successful episodes +[05/26 06:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5327 (index 36/42) +[05/26 06:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 06:34:54,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5327 episode 0 object objakey_c8d91352967841109fc5b30c604d90e0_1_0_4 completed with success=False +[05/26 06:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5327: 1 episodes +[05/26 06:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5327 in 3.47s (batch: 3.30s, save: 0.18s) +[05/26 06:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5327: 0/1 successful episodes +[05/26 06:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5416 (index 37/42) +[05/26 06:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 06:40:37,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5416 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_3 completed with success=False +[05/26 06:45:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5416: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5416 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5416 in 2.44s (batch: 2.35s, save: 0.09s) +[05/26 06:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5416 +[05/26 06:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5416: 0/1 successful episodes +[05/26 06:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 38/42) +[05/26 06:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:45:58 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'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[2026-05-26 06:47:06,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:49:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_0aef5e1b2ef446d7a5663674e75d45c8_1_0_2 completed with success=False +[05/26 06:49:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/26 06:49:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5453 +[05/26 06:49:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.51s (batch: 2.40s, save: 0.10s) +[05/26 06:49:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/26 06:49:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/26 06:49:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5483 (index 39/42) +[05/26 06:49:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:49:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[2026-05-26 06:51:00,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5483 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_7 completed with success=False +[05/26 06:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5483: 1 episodes +[05/26 06:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:41 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5483 +[05/26 06:53:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5483 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 06:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5483 +[05/26 06:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5483: 0/1 successful episodes +[05/26 06:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5521 (index 40/42) +[05/26 06:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5521 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 06:55:04,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5521 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_8 completed with success=False +[05/26 07:01:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5521: 1 episodes +[05/26 07:01:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:01:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:01:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5521 +[05/26 07:01:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5521 in 2.41s (batch: 2.28s, save: 0.12s) +[05/26 07:01:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5521 +[05/26 07:01:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5521: 0/1 successful episodes +[05/26 07:01:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5559 (index 41/42) +[05/26 07:01:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 07:01:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 07:02:32,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:06:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5559 episode 0 object objawoodenstake_20e19d2fe4954b2382123e8bbc8df270_1_0_6 completed with success=False +[05/26 07:06:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5559: 1 episodes +[05/26 07:06:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:00 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/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5559 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 07:07:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5559: 0/1 successful episodes +[05/26 07:07:00 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:01 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 07:07:01 INFO pipeline.py:1499] Success count: 0, Total count: 47 +[05/26 07:07:01 INFO pipeline.py:1500] Success rate: 0.00% +Combined 47 episodes from 42 files → /tmp/tmphqu8h10n.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv at-end: 0.0% | oracle: 0.0% of 47 episodes +[2026-05-26 07:07:05,599] INFO MolmoSpaces simulator eval finished: success=0/47 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval +[2026-05-26 07:07:05,599] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_06/run_command.sh b/pnp_v2/pnp_v2/shards/shard_06/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..ed20f86c7af4e48cd9aa2e38b278fc914f02e8c7 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_06/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..58f2bae3f2e2a60abf55d0bc92591a0d5822692d --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/running_log.log @@ -0,0 +1,2641 @@ +05/25 10:25:33 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/25 10:25:33 INFO: Starting house-by-house rollout of 112 houses with 2 episodes each (224 total episodes) using 1 worker processes [pipeline.py: 1279] +05/25 10:25:33 INFO: Evaluation configuration: [pipeline.py: 1286] +05/25 10:25:33 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533'), + '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': [108, + 150, + 230, + 291, + 336, + 378, + 443, + 452, + 502, + 520, + 1022, + 1063, + 1111, + 1142, + 1153, + 1209, + 1273, + 1327, + 1349, + 1426, + 1513, + 1554, + 1600, + 1630, + 1674, + 1711, + 1770, + 1782, + 1832, + 1862, + 1916, + 1978, + 2048, + 2107, + 2138, + 2169, + 2201, + 2236, + 2273, + 2327, + 2372, + 2377, + 2398, + 2451, + 2486, + 2541, + 2586, + 2595, + 2627, + 2700, + 2747, + 2790, + 2849, + 2916, + 2920, + 2993, + 3072, + 3122, + 3182, + 3261, + 3302, + 3320, + 3360, + 3415, + 3417, + 3450, + 3501, + 3541, + 3579, + 3616, + 3669, + 3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/25 10:25:33 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:33 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/25 10:25:33 INFO: [Worker 0] Worker 0 starting house 108 (index 0/112) [pipeline.py: 473] +05/25 10:25:33 INFO: [Worker 0] Loaded 1 episodes for house 108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 10:25:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:25:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395 [json_eval_task_sampler.py: 648] +05/25 10:25:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 10:25:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/25 10:25:50 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/25 10:26:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_108_ceiling.xml [task_sampler.py: 797] +05/25 10:26:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=108, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:26:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:26:03 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects [json_eval_task_sampler.py: 686] +05/25 10:26:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:26:09 INFO: [Worker 0] Sampled task 'Pick up the light wooden mannequin hand in fist and place it in or on the sculptural bowl with earthy texture' [task_sampler.py: 1136] +05/25 10:26:09 INFO: [Worker 0] Worker 0 house 108 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:26:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:26:11 WARNING: [Worker 0] Could not find object objagoldbar_40c73eb1815d406bb496e36646be4e03_1_0_5 in scene [object_manager.py: 1238] +05/25 10:26:11 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene [object_manager.py: 1238] +05/25 10:26:11 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_9 in scene [object_manager.py: 1238] +05/25 10:26:11 WARNING: [Worker 0] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_2_0_9 in scene [object_manager.py: 1238] +05/25 10:31:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:41:57 INFO: [Worker 0] Worker 0 house 108 episode 0 object objamannequinhand_fd6f60d019f646479feb24d64cbfb0d3_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 10:42:02 INFO: [Worker 0] Batching and saving trajectory data for house_108: 1 episodes [pipeline.py: 233] +05/25 10:42:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:42:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:42:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_108 [save_utils.py: 703] +05/25 10:42:05 INFO: [Worker 0] Successfully saved trajectory data for house_108 in 3.21s (batch: 3.05s, save: 0.16s) [pipeline.py: 280] +05/25 10:42:06 WARNING: [Worker 0] No trajectory data to save for house_108 [pipeline.py: 229] +05/25 10:42:06 INFO: [Worker 0] Worker 0 completed house 108: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:42:06 INFO: [Worker 0] Worker 0 starting house 150 (index 1/112) [pipeline.py: 473] +05/25 10:42:06 INFO: [Worker 0] Loaded 1 episodes for house 150 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 10:42:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:42:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 10:42:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_4 [json_eval_task_sampler.py: 648] +05/25 10:42:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/25 10:42:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_150_ceiling.xml [task_sampler.py: 797] +05/25 10:42:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=150, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:42:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:42:13 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/25 10:42:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:42:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:42:14 INFO: [Worker 0] Sampled task 'Pick up the plate with bird motif and place it in or on the rustic gray stone bowl with seams' [task_sampler.py: 1136] +05/25 10:42:14 INFO: [Worker 0] Worker 0 house 150 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:42:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:42:14 WARNING: [Worker 0] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_5 in scene [object_manager.py: 1238] +05/25 10:42:14 WARNING: [Worker 0] Could not find object objaartifact_edd6cdb8680741c4b1c99c51c0b0321d_1_0_5 in scene [object_manager.py: 1238] +05/25 10:45:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 10:53:44 INFO: [Worker 0] Worker 0 house 150 episode 0 object objadecorativeplate_2a78fefe6fbf40fc8b99aef97ab12b4b_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 10:53:50 INFO: [Worker 0] Batching and saving trajectory data for house_150: 1 episodes [pipeline.py: 233] +05/25 10:53:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 10:53:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 10:53:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_150 [save_utils.py: 703] +05/25 10:53:54 INFO: [Worker 0] Successfully saved trajectory data for house_150 in 4.11s (batch: 3.84s, save: 0.26s) [pipeline.py: 280] +05/25 10:53:54 WARNING: [Worker 0] No trajectory data to save for house_150 [pipeline.py: 229] +05/25 10:53:54 INFO: [Worker 0] Worker 0 completed house 150: 0/1 successful episodes [pipeline.py: 1243] +05/25 10:53:54 INFO: [Worker 0] Worker 0 starting house 230 (index 2/112) [pipeline.py: 473] +05/25 10:53:54 INFO: [Worker 0] Loaded 1 episodes for house 230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 10:53:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 10:54:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/25 10:54:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bcc0425058142c59255979a2b61f0d2 [json_eval_task_sampler.py: 648] +05/25 10:54:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/25 10:54:02 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 10:54:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_230_ceiling.xml [task_sampler.py: 797] +05/25 10:54:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=230, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 10:54:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 10:54:10 INFO: [Worker 0] randomize_scene: Setting poses for 110 objects [json_eval_task_sampler.py: 686] +05/25 10:54:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 10:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 10:54:10 INFO: [Worker 0] Sampled task 'Pick up the ripe red tomato and place it in or on the rustic round gray bowl' [task_sampler.py: 1136] +05/25 10:54:10 INFO: [Worker 0] Worker 0 house 230 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 10:54:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 10:54:11 WARNING: [Worker 0] Could not find object objawhalemodel_ec0a606dca224614a878052f715f709d_1_0_2 in scene [object_manager.py: 1238] +05/25 10:54:11 WARNING: [Worker 0] Could not find object plate_ac6a1b74f35572c9a1a82922f273449a_1_0_2 in scene [object_manager.py: 1238] +05/25 10:54:11 WARNING: [Worker 0] Could not find object objacableorganizer_10fc66b44e6a4f1f84c170a4acbd02ba_1_0_5 in scene [object_manager.py: 1238] +05/25 10:54:11 WARNING: [Worker 0] Could not find object objalighthouse_38f4ca24b0e94683b7becccda1b8f9ca_1_0_5 in scene [object_manager.py: 1238] +05/25 10:54:11 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/25 10:56:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:05:47 INFO: [Worker 0] Worker 0 house 230 episode 0 object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 11:05:52 INFO: [Worker 0] Batching and saving trajectory data for house_230: 1 episodes [pipeline.py: 233] +05/25 11:05:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:05:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:05:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_230 [save_utils.py: 703] +05/25 11:05:56 INFO: [Worker 0] Successfully saved trajectory data for house_230 in 4.52s (batch: 4.36s, save: 0.16s) [pipeline.py: 280] +05/25 11:05:57 WARNING: [Worker 0] No trajectory data to save for house_230 [pipeline.py: 229] +05/25 11:05:57 INFO: [Worker 0] Worker 0 completed house 230: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:05:57 INFO: [Worker 0] Worker 0 starting house 291 (index 3/112) [pipeline.py: 473] +05/25 11:05:57 INFO: [Worker 0] Loaded 1 episodes for house 291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 11:05:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:06:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/25 11:06:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/25 11:06:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f [json_eval_task_sampler.py: 648] +05/25 11:06:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_291_ceiling.xml [task_sampler.py: 797] +05/25 11:06:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=291, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:06:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:06:09 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/25 11:06:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:06:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:06:09 INFO: [Worker 0] Sampled task 'Pick up the decorative fish sculpture and place it in or on the round marbled gray bowl' [task_sampler.py: 1136] +05/25 11:06:09 INFO: [Worker 0] Worker 0 house 291 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:06:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:06:10 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene [object_manager.py: 1238] +05/25 11:06:10 WARNING: [Worker 0] Could not find object objadecorativekey_eaf2652babd44115843ad48369184819_1_0_5 in scene [object_manager.py: 1238] +05/25 11:06:10 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/25 11:06:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:17:01 INFO: [Worker 0] Worker 0 house 291 episode 0 object objadecorativefishsculpture_c335732772454197817f29606b731655_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:17:07 INFO: [Worker 0] Batching and saving trajectory data for house_291: 1 episodes [pipeline.py: 233] +05/25 11:17:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:17:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:17:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_291 [save_utils.py: 703] +05/25 11:17:11 INFO: [Worker 0] Successfully saved trajectory data for house_291 in 3.88s (batch: 3.71s, save: 0.17s) [pipeline.py: 280] +05/25 11:17:12 WARNING: [Worker 0] No trajectory data to save for house_291 [pipeline.py: 229] +05/25 11:17:12 INFO: [Worker 0] Worker 0 completed house 291: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:17:12 INFO: [Worker 0] Worker 0 starting house 336 (index 4/112) [pipeline.py: 473] +05/25 11:17:12 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/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 11:17:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:17:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/25 11:17:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_17 [json_eval_task_sampler.py: 648] +05/25 11:17:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 11:17:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_336_ceiling.xml [task_sampler.py: 797] +05/25 11:17:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:17:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:17:29 INFO: [Worker 0] randomize_scene: Setting poses for 118 objects [json_eval_task_sampler.py: 686] +05/25 11:17:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:17:29 INFO: [Worker 0] Sampled task 'Pick up the white crumpled tube with red text and place it in or on the dark metallic cooking pot' [task_sampler.py: 1136] +05/25 11:17:29 INFO: [Worker 0] Worker 0 house 336 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:17:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:17:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:25:34 INFO: [Worker 0] Worker 0 house 336 episode 0 object objatoothpastetube_394713df518944d2aea8b43097b444f5_2_0_9 completed with success=False [pipeline.py: 1114] +05/25 11:25:39 INFO: [Worker 0] Batching and saving trajectory data for house_336: 1 episodes [pipeline.py: 233] +05/25 11:25:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:25:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_336 [save_utils.py: 703] +05/25 11:25:43 INFO: [Worker 0] Successfully saved trajectory data for house_336 in 3.60s (batch: 3.46s, save: 0.15s) [pipeline.py: 280] +05/25 11:25:44 WARNING: [Worker 0] No trajectory data to save for house_336 [pipeline.py: 229] +05/25 11:25:44 INFO: [Worker 0] Worker 0 completed house 336: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:25:44 INFO: [Worker 0] Worker 0 starting house 378 (index 5/112) [pipeline.py: 473] +05/25 11:25:44 INFO: [Worker 0] Loaded 1 episodes for house 378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 11:25:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 11:25:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 11:25:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/25 11:25:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_378_ceiling.xml [task_sampler.py: 797] +05/25 11:25:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:25:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:25:52 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 11:25:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:25:53 INFO: [Worker 0] Sampled task 'Pick up the red u-shaped metal magnet and place it in or on the light wooden box' [task_sampler.py: 1136] +05/25 11:25:53 INFO: [Worker 0] Worker 0 house 378 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:25:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:25:54 WARNING: [Worker 0] Could not find object objashoe_d3a666009f2a4bed8dad93f29c2a0624_1_0_5 in scene [object_manager.py: 1238] +05/25 11:25:54 WARNING: [Worker 0] Could not find object objaemblem_96907aeebd274c7e8aadbc9b893db4a9_1_0_5 in scene [object_manager.py: 1238] +05/25 11:25:54 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_5 in scene [object_manager.py: 1238] +05/25 11:25:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:37:13 INFO: [Worker 0] Worker 0 house 378 episode 0 object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:37:20 INFO: [Worker 0] Batching and saving trajectory data for house_378: 1 episodes [pipeline.py: 233] +05/25 11:37:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:37:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_378 [save_utils.py: 703] +05/25 11:37:25 INFO: [Worker 0] Successfully saved trajectory data for house_378 in 5.25s (batch: 4.94s, save: 0.32s) [pipeline.py: 280] +05/25 11:37:26 WARNING: [Worker 0] No trajectory data to save for house_378 [pipeline.py: 229] +05/25 11:37:26 INFO: [Worker 0] Worker 0 completed house 378: 0/1 successful episodes [pipeline.py: 1243] +05/25 11:37:26 INFO: [Worker 0] Worker 0 starting house 443 (index 6/112) [pipeline.py: 473] +05/25 11:37:26 INFO: [Worker 0] Loaded 2 episodes for house 443 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 11:37:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/25 11:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0 [json_eval_task_sampler.py: 648] +05/25 11:37:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f [json_eval_task_sampler.py: 648] +05/25 11:37:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_443_ceiling.xml [task_sampler.py: 797] +05/25 11:37:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=443, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:37:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:37:36 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 11:37:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:37:36 INFO: [Worker 0] Sampled task 'Pick up the dark curved metallic band and place it in or on the translucent white smooth plastic bowl' [task_sampler.py: 1136] +05/25 11:37:36 INFO: [Worker 0] Worker 0 house 443 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 11:37:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:41:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:48:10 INFO: [Worker 0] Worker 0 house 443 episode 0 object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 11:48:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:48:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/25 11:48:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0 [json_eval_task_sampler.py: 648] +05/25 11:48:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/3b145885d881488887d90a98b3cde06f [json_eval_task_sampler.py: 648] +05/25 11:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_443_ceiling.xml [task_sampler.py: 797] +05/25 11:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=443, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/25 11:48:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:48:19 INFO: [Worker 0] Sampled task 'Pick up the red rectangular novelty license card and place it in or on the shallow beige ceramic bowl with cracks' [task_sampler.py: 1136] +05/25 11:48:19 INFO: [Worker 0] Worker 0 house 443 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 11:48:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 11:50:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 11:55:24 INFO: [Worker 0] Worker 0 house 443 episode 1 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 11:55:28 INFO: [Worker 0] Batching and saving trajectory data for house_443: 2 episodes [pipeline.py: 233] +05/25 11:55:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:55:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 11:55:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:55:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 11:55:35 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_443 [save_utils.py: 703] +05/25 11:55:35 INFO: [Worker 0] Successfully saved trajectory data for house_443 in 6.37s (batch: 6.04s, save: 0.33s) [pipeline.py: 280] +05/25 11:55:35 WARNING: [Worker 0] No trajectory data to save for house_443 [pipeline.py: 229] +05/25 11:55:35 INFO: [Worker 0] Worker 0 completed house 443: 0/2 successful episodes [pipeline.py: 1243] +05/25 11:55:35 INFO: [Worker 0] Worker 0 starting house 452 (index 7/112) [pipeline.py: 473] +05/25 11:55:35 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/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 11:55:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 11:55:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 11:55:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/25 11:55:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 11:55:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_452_ceiling.xml [task_sampler.py: 797] +05/25 11:55:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=452, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 11:55:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 11:55:43 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/25 11:55:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 11:55:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 11:55:43 INFO: [Worker 0] Sampled task 'Pick up the sleek dark rectangular phone and place it in or on the rustic brown bowl' [task_sampler.py: 1136] +05/25 11:55:43 INFO: [Worker 0] Worker 0 house 452 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 11:55:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:04:35 INFO: [Worker 0] Worker 0 house 452 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 12:04:40 INFO: [Worker 0] Batching and saving trajectory data for house_452: 1 episodes [pipeline.py: 233] +05/25 12:04:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:04:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:04:44 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_452 [save_utils.py: 703] +05/25 12:04:44 INFO: [Worker 0] Successfully saved trajectory data for house_452 in 4.35s (batch: 4.14s, save: 0.20s) [pipeline.py: 280] +05/25 12:04:45 WARNING: [Worker 0] No trajectory data to save for house_452 [pipeline.py: 229] +05/25 12:04:45 INFO: [Worker 0] Worker 0 completed house 452: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:04:45 INFO: [Worker 0] Worker 0 starting house 502 (index 8/112) [pipeline.py: 473] +05/25 12:04:45 INFO: [Worker 0] Loaded 1 episodes for house 502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:04:45 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] +05/25 12:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/496bd9f05a714e608a41a24b169937f6 [json_eval_task_sampler.py: 648] +05/25 12:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4 [json_eval_task_sampler.py: 648] +05/25 12:04:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 12:04:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_502_ceiling.xml [task_sampler.py: 797] +05/25 12:04:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:04:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:04:49 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/25 12:04:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:04:49 INFO: [Worker 0] Sampled task 'Pick up the smooth curved brown wooden crescent and place it in or on the round textured bowl' [task_sampler.py: 1136] +05/25 12:04:49 INFO: [Worker 0] Worker 0 house 502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:04:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:04:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:09:04 INFO: [Worker 0] Worker 0 house 502 episode 0 object objadecorativeelement_96a69835a652412181001c4a28658ed0_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:09:09 INFO: [Worker 0] Batching and saving trajectory data for house_502: 1 episodes [pipeline.py: 233] +05/25 12:09:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:09:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:09:13 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_502 [save_utils.py: 703] +05/25 12:09:13 INFO: [Worker 0] Successfully saved trajectory data for house_502 in 3.59s (batch: 3.41s, save: 0.18s) [pipeline.py: 280] +05/25 12:09:14 WARNING: [Worker 0] No trajectory data to save for house_502 [pipeline.py: 229] +05/25 12:09:14 INFO: [Worker 0] Worker 0 completed house 502: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:09:14 INFO: [Worker 0] Worker 0 starting house 520 (index 9/112) [pipeline.py: 473] +05/25 12:09:14 INFO: [Worker 0] 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/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:09:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:09:15 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 12:09:15 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641 [json_eval_task_sampler.py: 648] +05/25 12:09:15 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/dc75becfc0104a358ad1354b65d19475 [json_eval_task_sampler.py: 648] +05/25 12:09:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_520_ceiling.xml [task_sampler.py: 797] +05/25 12:09:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=520, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:09:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:09:20 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/25 12:09:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:09:20 INFO: [Worker 0] Sampled task 'Pick up the toilet paper and place it in or on the beige bowl' [task_sampler.py: 1136] +05/25 12:09:20 INFO: [Worker 0] Worker 0 house 520 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:09:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:09:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:14:16 INFO: [Worker 0] Worker 0 house 520 episode 0 object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_2_0_3 completed with success=False [pipeline.py: 1114] +05/25 12:14:20 INFO: [Worker 0] Batching and saving trajectory data for house_520: 1 episodes [pipeline.py: 233] +05/25 12:14:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:14:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_520 [save_utils.py: 703] +05/25 12:14:23 INFO: [Worker 0] Successfully saved trajectory data for house_520 in 2.93s (batch: 2.82s, save: 0.11s) [pipeline.py: 280] +05/25 12:14:23 WARNING: [Worker 0] No trajectory data to save for house_520 [pipeline.py: 229] +05/25 12:14:23 INFO: [Worker 0] Worker 0 completed house 520: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:14:23 INFO: [Worker 0] Worker 0 starting house 1022 (index 10/112) [pipeline.py: 473] +05/25 12:14:23 INFO: [Worker 0] Loaded 1 episodes for house 1022 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:14:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:14:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5 [json_eval_task_sampler.py: 648] +05/25 12:14:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_12 [json_eval_task_sampler.py: 648] +05/25 12:14:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/472cceee5a224ff6933e7baf31d16641 [json_eval_task_sampler.py: 648] +05/25 12:14:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1022_ceiling.xml [task_sampler.py: 797] +05/25 12:14:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1022, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:14:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:14:28 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/25 12:14:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:14:28 INFO: [Worker 0] Sampled task 'Pick up the upright and place it in or on the round small beige bowl' [task_sampler.py: 1136] +05/25 12:14:28 INFO: [Worker 0] Worker 0 house 1022 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:14:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:14:29 WARNING: [Worker 0] Could not find object objamodelhand_677a067c40954570ad8f7fcb06d69ac5_1_0_6 in scene [object_manager.py: 1238] +05/25 12:14:29 WARNING: [Worker 0] Could not find object plate_68f8a63bec3f86098918929096742bec_1_0_6 in scene [object_manager.py: 1238] +05/25 12:14:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:19:06 INFO: [Worker 0] Worker 0 house 1022 episode 0 object objagardenstake_a6705f6a9a854587b51ea39791548d6c_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:19:11 INFO: [Worker 0] Batching and saving trajectory data for house_1022: 1 episodes [pipeline.py: 233] +05/25 12:19:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:19:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1022 [save_utils.py: 703] +05/25 12:19:14 INFO: [Worker 0] Successfully saved trajectory data for house_1022 in 3.06s (batch: 2.91s, save: 0.15s) [pipeline.py: 280] +05/25 12:19:14 WARNING: [Worker 0] No trajectory data to save for house_1022 [pipeline.py: 229] +05/25 12:19:14 INFO: [Worker 0] Worker 0 completed house 1022: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:19:14 INFO: [Worker 0] Worker 0 starting house 1063 (index 11/112) [pipeline.py: 473] +05/25 12:19:14 INFO: [Worker 0] Loaded 1 episodes for house 1063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:19:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:19:16 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/25 12:19:16 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_29 [json_eval_task_sampler.py: 648] +05/25 12:19:16 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/25 12:19:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1063_ceiling.xml [task_sampler.py: 797] +05/25 12:19:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1063, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:19:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:19:20 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 12:19:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:19:20 INFO: [Worker 0] Sampled task 'Pick up the sleek ipod with screen and wheel and place it in or on the brown wooden leaf tray' [task_sampler.py: 1136] +05/25 12:19:20 INFO: [Worker 0] Worker 0 house 1063 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:19:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:19:20 WARNING: [Worker 0] Could not find object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_8 in scene [object_manager.py: 1238] +05/25 12:19:20 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_8 in scene [object_manager.py: 1238] +05/25 12:20:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:26:16 INFO: [Worker 0] Worker 0 house 1063 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 12:26:22 INFO: [Worker 0] Batching and saving trajectory data for house_1063: 1 episodes [pipeline.py: 233] +05/25 12:26:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:26:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:26:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1063 [save_utils.py: 703] +05/25 12:26:26 INFO: [Worker 0] Successfully saved trajectory data for house_1063 in 4.25s (batch: 3.92s, save: 0.32s) [pipeline.py: 280] +05/25 12:26:27 WARNING: [Worker 0] No trajectory data to save for house_1063 [pipeline.py: 229] +05/25 12:26:27 INFO: [Worker 0] Worker 0 completed house 1063: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:26:27 INFO: [Worker 0] Worker 0 starting house 1111 (index 12/112) [pipeline.py: 473] +05/25 12:26:27 INFO: [Worker 0] Loaded 1 episodes for house 1111 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:26:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:26:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/25 12:26:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b4e33154ce3a40e4bd2b34f8de4f548c [json_eval_task_sampler.py: 648] +05/25 12:26:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/25 12:26:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1111_ceiling.xml [task_sampler.py: 797] +05/25 12:26:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1111, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:26:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:26:37 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/25 12:26:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:26:37 INFO: [Worker 0] Sampled task 'Pick up the bronze cowboy scene belt buckle and place it in or on the white bowl with liquid soup' [task_sampler.py: 1136] +05/25 12:26:37 INFO: [Worker 0] Worker 0 house 1111 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:26:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:39:38 INFO: [Worker 0] Worker 0 house 1111 episode 0 object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 12:39:43 INFO: [Worker 0] Batching and saving trajectory data for house_1111: 1 episodes [pipeline.py: 233] +05/25 12:39:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:39:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:39:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1111 [save_utils.py: 703] +05/25 12:39:47 INFO: [Worker 0] Successfully saved trajectory data for house_1111 in 4.06s (batch: 3.88s, save: 0.18s) [pipeline.py: 280] +05/25 12:39:48 WARNING: [Worker 0] No trajectory data to save for house_1111 [pipeline.py: 229] +05/25 12:39:48 INFO: [Worker 0] Worker 0 completed house 1111: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:39:48 INFO: [Worker 0] Worker 0 starting house 1142 (index 13/112) [pipeline.py: 473] +05/25 12:39:48 INFO: [Worker 0] Loaded 1 episodes for house 1142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:39:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5b29a29005041dca3d8bfbc8c57c7e2 [json_eval_task_sampler.py: 648] +05/25 12:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 12:39:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/25 12:39:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1142_ceiling.xml [task_sampler.py: 797] +05/25 12:39:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:39:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:39:52 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 12:39:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:39:52 INFO: [Worker 0] Sampled task 'Pick up the brass cartridge and place it in or on the round ceramic bowl with patchwork' [task_sampler.py: 1136] +05/25 12:39:52 INFO: [Worker 0] Worker 0 house 1142 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 12:39:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:39:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:48:01 INFO: [Worker 0] Worker 0 house 1142 episode 0 object objabullet_4cc75b7ef1bc474392c319a47fd97348_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 12:48:05 INFO: [Worker 0] Batching and saving trajectory data for house_1142: 1 episodes [pipeline.py: 233] +05/25 12:48:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 12:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 12:48:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1142 [save_utils.py: 703] +05/25 12:48:08 INFO: [Worker 0] Successfully saved trajectory data for house_1142 in 3.16s (batch: 3.00s, save: 0.16s) [pipeline.py: 280] +05/25 12:48:09 WARNING: [Worker 0] No trajectory data to save for house_1142 [pipeline.py: 229] +05/25 12:48:09 INFO: [Worker 0] Worker 0 completed house 1142: 0/1 successful episodes [pipeline.py: 1243] +05/25 12:48:09 INFO: [Worker 0] Worker 0 starting house 1153 (index 14/112) [pipeline.py: 473] +05/25 12:48:09 INFO: [Worker 0] Loaded 2 episodes for house 1153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 12:48:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:48:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 12:48:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/25 12:48:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 12:48:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1153_ceiling.xml [task_sampler.py: 797] +05/25 12:48:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1153, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:48:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:48:14 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 12:48:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:48:14 INFO: [Worker 0] Sampled task 'Pick up the green head mallard duck and place it in or on the shallow round gray stone dish' [task_sampler.py: 1136] +05/25 12:48:14 INFO: [Worker 0] Worker 0 house 1153 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 12:48:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:48:15 WARNING: [Worker 0] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene [object_manager.py: 1238] +05/25 12:48:15 WARNING: [Worker 0] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene [object_manager.py: 1238] +05/25 12:48:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 12:55:09 INFO: [Worker 0] Worker 0 house 1153 episode 0 object objaduckdecoy_4cb5626dc14d4532a27b33663b541f81_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 12:55:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 12:55:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 12:55:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/25 12:55:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 12:55:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1153_ceiling.xml [task_sampler.py: 797] +05/25 12:55:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1153, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 12:55:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 12:55:18 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 12:55:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 12:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 12:55:18 INFO: [Worker 0] Sampled task 'Pick up the sleek blue metallic disc with patterns and place it in or on the round stone dish' [task_sampler.py: 1136] +05/25 12:55:18 INFO: [Worker 0] Worker 0 house 1153 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 12:55:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 12:55:19 WARNING: [Worker 0] Could not find object objacan_615d050718e849d2812ecfab3815bb6f_1_0_2 in scene [object_manager.py: 1238] +05/25 12:55:19 WARNING: [Worker 0] Could not find object tomato_39a09e2414136c22c19ce43e027d1f9a_1_0_2 in scene [object_manager.py: 1238] +05/25 13:00:10 INFO: [Worker 0] Worker 0 house 1153 episode 1 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 13:00:14 INFO: [Worker 0] Batching and saving trajectory data for house_1153: 2 episodes [pipeline.py: 233] +05/25 13:00:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:00:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:00:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:00:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:00:21 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1153 [save_utils.py: 703] +05/25 13:00:21 INFO: [Worker 0] Successfully saved trajectory data for house_1153 in 7.02s (batch: 6.62s, save: 0.40s) [pipeline.py: 280] +05/25 13:00:22 WARNING: [Worker 0] No trajectory data to save for house_1153 [pipeline.py: 229] +05/25 13:00:22 INFO: [Worker 0] Worker 0 completed house 1153: 0/2 successful episodes [pipeline.py: 1243] +05/25 13:00:22 INFO: [Worker 0] Worker 0 starting house 1209 (index 15/112) [pipeline.py: 473] +05/25 13:00:22 INFO: [Worker 0] Loaded 1 episodes for house 1209 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:00:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:00:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1ef337c5cfda4d368ceb154c0e9fae0e [json_eval_task_sampler.py: 648] +05/25 13:00:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/25 13:00:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/25 13:00:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1209_ceiling.xml [task_sampler.py: 797] +05/25 13:00:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1209, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:00:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:00:27 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 13:00:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:00:27 INFO: [Worker 0] Sampled task 'Pick up the gray pyramid die with turquoise numbers and place it in or on the shallow bowl with inscriptions' [task_sampler.py: 1136] +05/25 13:00:27 INFO: [Worker 0] Worker 0 house 1209 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:00:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:00:28 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_2 in scene [object_manager.py: 1238] +05/25 13:00:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:04:58 INFO: [Worker 0] Worker 0 house 1209 episode 0 object objadie_7dadee868cb5440a909202978960e4f0_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 13:05:02 INFO: [Worker 0] Batching and saving trajectory data for house_1209: 1 episodes [pipeline.py: 233] +05/25 13:05:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:05:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:05:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1209 [save_utils.py: 703] +05/25 13:05:05 INFO: [Worker 0] Successfully saved trajectory data for house_1209 in 3.04s (batch: 2.90s, save: 0.14s) [pipeline.py: 280] +05/25 13:05:06 WARNING: [Worker 0] No trajectory data to save for house_1209 [pipeline.py: 229] +05/25 13:05:06 INFO: [Worker 0] Worker 0 completed house 1209: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:05:06 INFO: [Worker 0] Worker 0 starting house 1273 (index 16/112) [pipeline.py: 473] +05/25 13:05:06 INFO: [Worker 0] Loaded 1 episodes for house 1273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:05:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:05:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 13:05:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 13:05:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/25 13:05:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1273_ceiling.xml [task_sampler.py: 797] +05/25 13:05:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1273, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:05:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:05:12 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 13:05:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:05:12 INFO: [Worker 0] Sampled task 'Pick up the colorful blue and yellow toy robot and place it in or on the shallow bowl with rustic texture' [task_sampler.py: 1136] +05/25 13:05:12 INFO: [Worker 0] Worker 0 house 1273 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:05:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:05:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:14:30 INFO: [Worker 0] Worker 0 house 1273 episode 0 object objatoyrobot_2e2f9078964449b2ba75b4d1a2f595da_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 13:14:36 INFO: [Worker 0] Batching and saving trajectory data for house_1273: 1 episodes [pipeline.py: 233] +05/25 13:14:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:14:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:14:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1273 [save_utils.py: 703] +05/25 13:14:40 INFO: [Worker 0] Successfully saved trajectory data for house_1273 in 4.39s (batch: 4.06s, save: 0.33s) [pipeline.py: 280] +05/25 13:14:41 WARNING: [Worker 0] No trajectory data to save for house_1273 [pipeline.py: 229] +05/25 13:14:41 INFO: [Worker 0] Worker 0 completed house 1273: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:14:41 INFO: [Worker 0] Worker 0 starting house 1327 (index 17/112) [pipeline.py: 473] +05/25 13:14:41 INFO: [Worker 0] Loaded 2 episodes for house 1327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:14:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:14:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/25 13:14:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/25 13:14:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 13:14:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1327_ceiling.xml [task_sampler.py: 797] +05/25 13:14:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1327, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:14:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:14:47 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 13:14:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:14:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:14:47 INFO: [Worker 0] Sampled task 'Pick up the white stopwatch and place it in or on the rustic round gray clay bowl' [task_sampler.py: 1136] +05/25 13:14:47 INFO: [Worker 0] Worker 0 house 1327 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 13:14:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:14:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:24:16 INFO: [Worker 0] Worker 0 house 1327 episode 0 object objastopwatch_2d4d77ac85604a1ab61b934b19d301c8_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 13:24:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:24:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/25 13:24:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/25 13:24:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 13:24:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1327_ceiling.xml [task_sampler.py: 797] +05/25 13:24:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1327, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:24:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:24:26 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 13:24:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:24:26 INFO: [Worker 0] Sampled task 'Pick up the twisted rusted metal ring and place it in or on the round shallow rustic clay bowl' [task_sampler.py: 1136] +05/25 13:24:26 INFO: [Worker 0] Worker 0 house 1327 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 13:24:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:24:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:30:54 INFO: [Worker 0] Worker 0 house 1327 episode 1 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 13:31:00 INFO: [Worker 0] Batching and saving trajectory data for house_1327: 2 episodes [pipeline.py: 233] +05/25 13:31:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:31:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:31:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:31:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:31:07 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1327 [save_utils.py: 703] +05/25 13:31:07 INFO: [Worker 0] Successfully saved trajectory data for house_1327 in 7.46s (batch: 7.18s, save: 0.28s) [pipeline.py: 280] +05/25 13:31:08 WARNING: [Worker 0] No trajectory data to save for house_1327 [pipeline.py: 229] +05/25 13:31:08 INFO: [Worker 0] Worker 0 completed house 1327: 0/2 successful episodes [pipeline.py: 1243] +05/25 13:31:08 INFO: [Worker 0] Worker 0 starting house 1349 (index 18/112) [pipeline.py: 473] +05/25 13:31:08 INFO: [Worker 0] Loaded 1 episodes for house 1349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:31:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:31:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 13:31:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c2bd80794a3947238fe610f5733be9d2 [json_eval_task_sampler.py: 648] +05/25 13:31:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/25 13:31:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1349_ceiling.xml [task_sampler.py: 797] +05/25 13:31:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1349, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:31:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:31:12 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 13:31:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:31:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:31:12 INFO: [Worker 0] Sampled task 'Pick up the shiny gold script and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 13:31:12 INFO: [Worker 0] Worker 0 house 1349 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:31:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:31:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:33:45 INFO: [Worker 0] Worker 0 house 1349 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=True [pipeline.py: 1114] +05/25 13:33:50 INFO: [Worker 0] Batching and saving trajectory data for house_1349: 1 episodes [pipeline.py: 233] +05/25 13:33:50 INFO: [Worker 0] Preparing episode data: 238 timesteps [save_utils.py: 284] +05/25 13:33:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:33:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1349 [save_utils.py: 703] +05/25 13:33:54 INFO: [Worker 0] Successfully saved trajectory data for house_1349 in 3.39s (batch: 3.21s, save: 0.18s) [pipeline.py: 280] +05/25 13:33:55 WARNING: [Worker 0] No trajectory data to save for house_1349 [pipeline.py: 229] +05/25 13:33:55 INFO: [Worker 0] Worker 0 completed house 1349: 1/1 successful episodes [pipeline.py: 1243] +05/25 13:33:55 INFO: [Worker 0] Worker 0 starting house 1426 (index 19/112) [pipeline.py: 473] +05/25 13:33:55 INFO: [Worker 0] Loaded 1 episodes for house 1426 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:33:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/56dccb62700a4c04b42646e060c087f5 [json_eval_task_sampler.py: 648] +05/25 13:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/25 13:33:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 13:33:57 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 13:34:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1426_ceiling.xml [task_sampler.py: 797] +05/25 13:34:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1426, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:34:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:34:03 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 13:34:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:34:03 INFO: [Worker 0] Sampled task 'Pick up the matte black metal chain and place it in or on the handmade rustic gray bowl' [task_sampler.py: 1136] +05/25 13:34:03 INFO: [Worker 0] Worker 0 house 1426 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:34:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:34:04 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene [object_manager.py: 1238] +05/25 13:34:04 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/25 13:38:39 INFO: [Worker 0] Worker 0 house 1426 episode 0 object objachain_e028c056cd234ed981deac0da5e73167_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 13:38:43 INFO: [Worker 0] Batching and saving trajectory data for house_1426: 1 episodes [pipeline.py: 233] +05/25 13:38:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:38:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1426 [save_utils.py: 703] +05/25 13:38:46 INFO: [Worker 0] Successfully saved trajectory data for house_1426 in 3.03s (batch: 2.90s, save: 0.13s) [pipeline.py: 280] +05/25 13:38:47 WARNING: [Worker 0] No trajectory data to save for house_1426 [pipeline.py: 229] +05/25 13:38:47 INFO: [Worker 0] Worker 0 completed house 1426: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:38:47 INFO: [Worker 0] Worker 0 starting house 1513 (index 20/112) [pipeline.py: 473] +05/25 13:38:47 INFO: [Worker 0] Loaded 1 episodes for house 1513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:38:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:38:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e11475635c464216a2213d65c45a319a [json_eval_task_sampler.py: 648] +05/25 13:38:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 13:38:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfcfd4c7bfa649259e047eb92e6a5c31 [json_eval_task_sampler.py: 648] +05/25 13:38:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1513_ceiling.xml [task_sampler.py: 797] +05/25 13:38:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1513, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:38:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:38:48 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 13:38:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:38:48 INFO: [Worker 0] Sampled task 'Pick up the red rectangular button with text and place it in or on the irregular shaped reddish clay bowl' [task_sampler.py: 1136] +05/25 13:38:48 INFO: [Worker 0] Worker 0 house 1513 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:38:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:38:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:39:03 INFO: [Worker 0] Worker 0 house 1513 episode 0 object objabutton_338b1ea1284f4de092b21a80aceb444b_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 13:39:07 INFO: [Worker 0] Batching and saving trajectory data for house_1513: 1 episodes [pipeline.py: 233] +05/25 13:39:07 INFO: [Worker 0] Preparing episode data: 31 timesteps [save_utils.py: 284] +05/25 13:39:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:39:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1513 [save_utils.py: 703] +05/25 13:39:10 INFO: [Worker 0] Successfully saved trajectory data for house_1513 in 2.62s (batch: 2.56s, save: 0.05s) [pipeline.py: 280] +05/25 13:39:10 WARNING: [Worker 0] No trajectory data to save for house_1513 [pipeline.py: 229] +05/25 13:39:10 INFO: [Worker 0] Worker 0 completed house 1513: 1/1 successful episodes [pipeline.py: 1243] +05/25 13:39:10 INFO: [Worker 0] Worker 0 starting house 1554 (index 21/112) [pipeline.py: 473] +05/25 13:39:10 INFO: [Worker 0] Loaded 1 episodes for house 1554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:39:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:39:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11 [json_eval_task_sampler.py: 648] +05/25 13:39:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/f9561598da77463f9eb6fecd4bc301b5 [json_eval_task_sampler.py: 648] +05/25 13:39:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 13:39:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1554_ceiling.xml [task_sampler.py: 797] +05/25 13:39:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1554, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:39:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:39:12 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/25 13:39:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:39:12 INFO: [Worker 0] Sampled task 'Pick up the black fish emblem with evolve word and place it in or on the smooth white ceramic serving bowl' [task_sampler.py: 1136] +05/25 13:39:12 INFO: [Worker 0] Worker 0 house 1554 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:39:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:39:12 WARNING: [Worker 0] Could not find object objaindoorsoccershoe_cfa41567512a4ab78cd3eca7b6a58adf_1_0_2 in scene [object_manager.py: 1238] +05/25 13:39:12 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_2 in scene [object_manager.py: 1238] +05/25 13:39:12 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_2 in scene [object_manager.py: 1238] +05/25 13:39:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:43:17 INFO: [Worker 0] Worker 0 house 1554 episode 0 object objadecorativeemblem_908dab0111ad4b478dbc1af767fbc7dc_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 13:43:21 INFO: [Worker 0] Batching and saving trajectory data for house_1554: 1 episodes [pipeline.py: 233] +05/25 13:43:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:43:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:43:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1554 [save_utils.py: 703] +05/25 13:43:25 INFO: [Worker 0] Successfully saved trajectory data for house_1554 in 3.55s (batch: 3.38s, save: 0.17s) [pipeline.py: 280] +05/25 13:43:25 WARNING: [Worker 0] No trajectory data to save for house_1554 [pipeline.py: 229] +05/25 13:43:25 INFO: [Worker 0] Worker 0 completed house 1554: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:43:25 INFO: [Worker 0] Worker 0 starting house 1600 (index 22/112) [pipeline.py: 473] +05/25 13:43:25 INFO: [Worker 0] Loaded 1 episodes for house 1600 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:43:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/25 13:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_20 [json_eval_task_sampler.py: 648] +05/25 13:43:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/25 13:43:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1600_ceiling.xml [task_sampler.py: 797] +05/25 13:43:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1600, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:43:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:43:33 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/25 13:43:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:43:33 INFO: [Worker 0] Sampled task 'Pick up the yellow capped gray pointed garden stake and place it in or on the container' [task_sampler.py: 1136] +05/25 13:43:33 INFO: [Worker 0] Worker 0 house 1600 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:43:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:43:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:48:56 INFO: [Worker 0] Worker 0 house 1600 episode 0 object objagardenstake_15335ebb06eb412aa3b10b893254174b_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 13:49:00 INFO: [Worker 0] Batching and saving trajectory data for house_1600: 1 episodes [pipeline.py: 233] +05/25 13:49:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:49:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:49:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1600 [save_utils.py: 703] +05/25 13:49:04 INFO: [Worker 0] Successfully saved trajectory data for house_1600 in 3.84s (batch: 3.67s, save: 0.17s) [pipeline.py: 280] +05/25 13:49:05 WARNING: [Worker 0] No trajectory data to save for house_1600 [pipeline.py: 229] +05/25 13:49:05 INFO: [Worker 0] Worker 0 completed house 1600: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:49:05 INFO: [Worker 0] Worker 0 starting house 1630 (index 23/112) [pipeline.py: 473] +05/25 13:49:05 INFO: [Worker 0] Loaded 1 episodes for house 1630 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:49:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:49:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/25 13:49:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 13:49:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_7 [json_eval_task_sampler.py: 648] +05/25 13:49:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1630_ceiling.xml [task_sampler.py: 797] +05/25 13:49:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1630, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:49:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:49:11 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 13:49:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:49:11 INFO: [Worker 0] Sampled task 'Pick up the modern white tape dispenser with cutting edge and place it in or on the shallow round bowl with feet' [task_sampler.py: 1136] +05/25 13:49:11 INFO: [Worker 0] Worker 0 house 1630 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:49:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:49:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 13:58:13 INFO: [Worker 0] Worker 0 house 1630 episode 0 object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 13:58:18 INFO: [Worker 0] Batching and saving trajectory data for house_1630: 1 episodes [pipeline.py: 233] +05/25 13:58:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 13:58:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 13:58:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1630 [save_utils.py: 703] +05/25 13:58:21 INFO: [Worker 0] Successfully saved trajectory data for house_1630 in 3.72s (batch: 3.56s, save: 0.16s) [pipeline.py: 280] +05/25 13:58:22 WARNING: [Worker 0] No trajectory data to save for house_1630 [pipeline.py: 229] +05/25 13:58:22 INFO: [Worker 0] Worker 0 completed house 1630: 0/1 successful episodes [pipeline.py: 1243] +05/25 13:58:22 INFO: [Worker 0] Worker 0 starting house 1674 (index 24/112) [pipeline.py: 473] +05/25 13:58:22 INFO: [Worker 0] Loaded 1 episodes for house 1674 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 13:58:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 13:58:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 13:58:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 13:58:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/dc75becfc0104a358ad1354b65d19475 [json_eval_task_sampler.py: 648] +05/25 13:58:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1674_ceiling.xml [task_sampler.py: 797] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1674, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 13:58:30 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/25 13:58:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 13:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 13:58:30 INFO: [Worker 0] Sampled task 'Pick up the circular emblem with black m center and place it in or on the simple gray bowl' [task_sampler.py: 1136] +05/25 13:58:30 INFO: [Worker 0] Worker 0 house 1674 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 13:58:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 13:58:31 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene [object_manager.py: 1238] +05/25 13:58:31 WARNING: [Worker 0] Could not find object objametalartifact_ce43098d06304a5c854f996ce96bd02e_1_0_5 in scene [object_manager.py: 1238] +05/25 14:02:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:15:47 INFO: [Worker 0] Worker 0 house 1674 episode 0 object objaemblem_8bc3cc98372347db9875cefeb3363892_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 14:15:52 INFO: [Worker 0] Batching and saving trajectory data for house_1674: 1 episodes [pipeline.py: 233] +05/25 14:15:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:15:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:15:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1674 [save_utils.py: 703] +05/25 14:15:55 INFO: [Worker 0] Successfully saved trajectory data for house_1674 in 3.61s (batch: 3.48s, save: 0.13s) [pipeline.py: 280] +05/25 14:15:56 WARNING: [Worker 0] No trajectory data to save for house_1674 [pipeline.py: 229] +05/25 14:15:56 INFO: [Worker 0] Worker 0 completed house 1674: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:15:56 INFO: [Worker 0] Worker 0 starting house 1711 (index 25/112) [pipeline.py: 473] +05/25 14:15:56 INFO: [Worker 0] Loaded 1 episodes for house 1711 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 14:15:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:15:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/25 14:15:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/25 14:15:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/25 14:15:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1711_ceiling.xml [task_sampler.py: 797] +05/25 14:15:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1711, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:15:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:15:58 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/25 14:15:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:15:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:15:58 INFO: [Worker 0] Sampled task 'Pick up the miniature stone tower with windows and place it in or on the rustic ceramic bowl' [task_sampler.py: 1136] +05/25 14:15:58 INFO: [Worker 0] Worker 0 house 1711 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:15:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:19:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:32:39 INFO: [Worker 0] Worker 0 house 1711 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 14:32:43 INFO: [Worker 0] Batching and saving trajectory data for house_1711: 1 episodes [pipeline.py: 233] +05/25 14:32:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:32:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:32:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1711 [save_utils.py: 703] +05/25 14:32:47 INFO: [Worker 0] Successfully saved trajectory data for house_1711 in 3.65s (batch: 3.40s, save: 0.25s) [pipeline.py: 280] +05/25 14:32:48 WARNING: [Worker 0] No trajectory data to save for house_1711 [pipeline.py: 229] +05/25 14:32:48 INFO: [Worker 0] Worker 0 completed house 1711: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:32:48 INFO: [Worker 0] Worker 0 starting house 1770 (index 26/112) [pipeline.py: 473] +05/25 14:32:48 INFO: [Worker 0] Loaded 1 episodes for house 1770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 14:32:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:32:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/24464015c15b4662a32be7625ae3f75b [json_eval_task_sampler.py: 648] +05/25 14:32:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/976f5b6e9a1344628642051f680b176b [json_eval_task_sampler.py: 648] +05/25 14:32:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/21480103f9f44a52a5ee8bc37fb70bab [json_eval_task_sampler.py: 648] +05/25 14:33:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1770_ceiling.xml [task_sampler.py: 797] +05/25 14:33:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1770, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:33:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:33:04 INFO: [Worker 0] randomize_scene: Setting poses for 108 objects [json_eval_task_sampler.py: 686] +05/25 14:33:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:33:04 INFO: [Worker 0] Sampled task 'Pick up the photographic equipment and place it in or on the round clay dish' [task_sampler.py: 1136] +05/25 14:33:04 INFO: [Worker 0] Worker 0 house 1770 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:33:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:33:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:41:40 INFO: [Worker 0] Worker 0 house 1770 episode 0 object objadigitalcamera_94dfa7e09bfb4dd6b7e7b721f1c0a69f_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 14:41:46 INFO: [Worker 0] Batching and saving trajectory data for house_1770: 1 episodes [pipeline.py: 233] +05/25 14:41:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:41:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:41:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1770 [save_utils.py: 703] +05/25 14:41:52 INFO: [Worker 0] Successfully saved trajectory data for house_1770 in 5.86s (batch: 5.64s, save: 0.23s) [pipeline.py: 280] +05/25 14:41:53 WARNING: [Worker 0] No trajectory data to save for house_1770 [pipeline.py: 229] +05/25 14:41:53 INFO: [Worker 0] Worker 0 completed house 1770: 0/1 successful episodes [pipeline.py: 1243] +05/25 14:41:53 INFO: [Worker 0] Worker 0 starting house 1782 (index 27/112) [pipeline.py: 473] +05/25 14:41:53 INFO: [Worker 0] Loaded 2 episodes for house 1782 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 14:41:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:41:56 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 14:41:56 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 14:41:56 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 14:42:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1782_ceiling.xml [task_sampler.py: 797] +05/25 14:42:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1782, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:42:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:42:02 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/25 14:42:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:42:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:42:02 INFO: [Worker 0] Sampled task 'Pick up the metal and plastic handheld anemometer and place it in or on the shallow round wooden bowl' [task_sampler.py: 1136] +05/25 14:42:02 INFO: [Worker 0] Worker 0 house 1782 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 14:42:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:42:03 WARNING: [Worker 0] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_1_0_3 in scene [object_manager.py: 1238] +05/25 14:51:29 INFO: [Worker 0] Worker 0 house 1782 episode 0 object objaanemometer_c38f08309b6b476883c801597bd24727_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 14:51:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:51:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/25 14:51:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 14:51:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 14:51:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1782_ceiling.xml [task_sampler.py: 797] +05/25 14:51:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1782, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:51:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:51:40 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/25 14:51:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:51:41 INFO: [Worker 0] Sampled task 'Pick up the alligator pear and place it in or on the round wooden bowl' [task_sampler.py: 1136] +05/25 14:51:41 INFO: [Worker 0] Worker 0 house 1782 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 14:51:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:51:42 WARNING: [Worker 0] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_1_0_3 in scene [object_manager.py: 1238] +05/25 14:51:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 14:57:11 INFO: [Worker 0] Worker 0 house 1782 episode 1 object objaavocado_1d4fea5ba0324fd8b29767e57a95e740_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 14:57:16 INFO: [Worker 0] Batching and saving trajectory data for house_1782: 2 episodes [pipeline.py: 233] +05/25 14:57:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:57:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 14:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 14:57:25 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1782 [save_utils.py: 703] +05/25 14:57:25 INFO: [Worker 0] Successfully saved trajectory data for house_1782 in 8.59s (batch: 8.14s, save: 0.44s) [pipeline.py: 280] +05/25 14:57:26 WARNING: [Worker 0] No trajectory data to save for house_1782 [pipeline.py: 229] +05/25 14:57:26 INFO: [Worker 0] Worker 0 completed house 1782: 0/2 successful episodes [pipeline.py: 1243] +05/25 14:57:26 INFO: [Worker 0] Worker 0 starting house 1832 (index 28/112) [pipeline.py: 473] +05/25 14:57:26 INFO: [Worker 0] Loaded 1 episodes for house 1832 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 14:57:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 14:57:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11 [json_eval_task_sampler.py: 648] +05/25 14:57:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 14:57:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5c5c3b9ae7874b709c10ac57dad33195 [json_eval_task_sampler.py: 648] +05/25 14:57:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1832_ceiling.xml [task_sampler.py: 797] +05/25 14:57:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1832, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 14:57:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 14:57:34 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/25 14:57:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 14:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 14:57:34 INFO: [Worker 0] Sampled task 'Pick up the metal rectangular extrusion profile with grooves and place it in or on the smooth white ceramic serving bowl' [task_sampler.py: 1136] +05/25 14:57:34 INFO: [Worker 0] Worker 0 house 1832 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 14:57:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 14:57:34 WARNING: [Worker 0] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene [object_manager.py: 1238] +05/25 14:57:34 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/25 15:00:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:06:30 INFO: [Worker 0] Worker 0 house 1832 episode 0 object objaaluminumextrusionprofile_eb9d420023714056a8e9e6d6ef316ebe_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 15:06:35 INFO: [Worker 0] Batching and saving trajectory data for house_1832: 1 episodes [pipeline.py: 233] +05/25 15:06:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:06:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:06:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1832 [save_utils.py: 703] +05/25 15:06:40 INFO: [Worker 0] Successfully saved trajectory data for house_1832 in 4.78s (batch: 4.54s, save: 0.24s) [pipeline.py: 280] +05/25 15:06:41 WARNING: [Worker 0] No trajectory data to save for house_1832 [pipeline.py: 229] +05/25 15:06:41 INFO: [Worker 0] Worker 0 completed house 1832: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:06:41 INFO: [Worker 0] Worker 0 starting house 1862 (index 29/112) [pipeline.py: 473] +05/25 15:06:41 INFO: [Worker 0] Loaded 1 episodes for house 1862 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 15:06:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:06:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 15:06:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/25 15:06:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 15:06:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1862_ceiling.xml [task_sampler.py: 797] +05/25 15:06:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1862, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:06:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:06:47 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/25 15:06:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:06:47 INFO: [Worker 0] Sampled task 'Pick up the purple striped paper and place it in or on the rustic terracotta bowl' [task_sampler.py: 1136] +05/25 15:06:47 INFO: [Worker 0] Worker 0 house 1862 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:06:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:06:49 WARNING: [Worker 0] Could not find object objatube_0f7ec1dcb01d4943972e3a9168f52e8e_1_0_5 in scene [object_manager.py: 1238] +05/25 15:06:49 WARNING: [Worker 0] Could not find object objalantern_8f07a87f281343009ff480f8d7e5db83_1_0_9 in scene [object_manager.py: 1238] +05/25 15:06:49 WARNING: [Worker 0] Could not find object objacandle_6a037139d50e4150bd30c7e900126779_1_0_9 in scene [object_manager.py: 1238] +05/25 15:15:04 INFO: [Worker 0] Worker 0 house 1862 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 15:15:08 INFO: [Worker 0] Batching and saving trajectory data for house_1862: 1 episodes [pipeline.py: 233] +05/25 15:15:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:15:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:15:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1862 [save_utils.py: 703] +05/25 15:15:11 INFO: [Worker 0] Successfully saved trajectory data for house_1862 in 2.88s (batch: 2.76s, save: 0.12s) [pipeline.py: 280] +05/25 15:15:12 WARNING: [Worker 0] No trajectory data to save for house_1862 [pipeline.py: 229] +05/25 15:15:12 INFO: [Worker 0] Worker 0 completed house 1862: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:15:12 INFO: [Worker 0] Worker 0 starting house 1916 (index 30/112) [pipeline.py: 473] +05/25 15:15:12 INFO: [Worker 0] Loaded 1 episodes for house 1916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 15:15:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7b3bfdab414148a08cbf46fc105e280a [json_eval_task_sampler.py: 648] +05/25 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/25 15:15:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/25 15:15:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1916_ceiling.xml [task_sampler.py: 797] +05/25 15:15:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1916, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:15:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:15:19 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/25 15:15:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:15:19 INFO: [Worker 0] Sampled task 'Pick up the colorful rubik's cube puzzle toy and place it in or on the white geometric bowl' [task_sampler.py: 1136] +05/25 15:15:19 INFO: [Worker 0] Worker 0 house 1916 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:15:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:15:20 WARNING: [Worker 0] Could not find object objadecorativekey_026dfb57bcb5406688a7b20dfbecc6c2_1_0_5 in scene [object_manager.py: 1238] +05/25 15:19:44 INFO: [Worker 0] Worker 0 house 1916 episode 0 object objapuzzletoy_6f38844c6140418aaec6e7222552dd4d_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 15:19:49 INFO: [Worker 0] Batching and saving trajectory data for house_1916: 1 episodes [pipeline.py: 233] +05/25 15:19:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:19:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:19:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1916 [save_utils.py: 703] +05/25 15:19:52 INFO: [Worker 0] Successfully saved trajectory data for house_1916 in 3.43s (batch: 3.27s, save: 0.17s) [pipeline.py: 280] +05/25 15:19:53 WARNING: [Worker 0] No trajectory data to save for house_1916 [pipeline.py: 229] +05/25 15:19:53 INFO: [Worker 0] Worker 0 completed house 1916: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:19:53 INFO: [Worker 0] Worker 0 starting house 1978 (index 31/112) [pipeline.py: 473] +05/25 15:19:53 INFO: [Worker 0] Loaded 1 episodes for house 1978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 15:19:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:19:57 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395 [json_eval_task_sampler.py: 648] +05/25 15:19:57 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/25 15:19:57 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 15:20:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1978_ceiling.xml [task_sampler.py: 797] +05/25 15:20:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1978, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:20:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:20:03 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/25 15:20:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:20:04 INFO: [Worker 0] Sampled task 'Pick up the brown flat h-shape and place it in or on the translucent smooth glass conical bowl' [task_sampler.py: 1136] +05/25 15:20:04 INFO: [Worker 0] Worker 0 house 1978 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:20:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:20:04 WARNING: [Worker 0] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_9 in scene [object_manager.py: 1238] +05/25 15:20:04 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 in scene [object_manager.py: 1238] +05/25 15:20:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:25:00 INFO: [Worker 0] Worker 0 house 1978 episode 0 object objacomponent_5ca9a2c89480421592cd65b82d2a028b_2_0_2 completed with success=False [pipeline.py: 1114] +05/25 15:25:04 INFO: [Worker 0] Batching and saving trajectory data for house_1978: 1 episodes [pipeline.py: 233] +05/25 15:25:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:25:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:25:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_1978 [save_utils.py: 703] +05/25 15:25:07 INFO: [Worker 0] Successfully saved trajectory data for house_1978 in 3.19s (batch: 3.05s, save: 0.14s) [pipeline.py: 280] +05/25 15:25:07 WARNING: [Worker 0] No trajectory data to save for house_1978 [pipeline.py: 229] +05/25 15:25:07 INFO: [Worker 0] Worker 0 completed house 1978: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:25:07 INFO: [Worker 0] Worker 0 starting house 2048 (index 32/112) [pipeline.py: 473] +05/25 15:25:07 INFO: [Worker 0] Loaded 1 episodes for house 2048 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 15:25:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:25:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/25 15:25:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 15:25:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b88a0160da29481fb7866fda93457fe3 [json_eval_task_sampler.py: 648] +05/25 15:25:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2048_ceiling.xml [task_sampler.py: 797] +05/25 15:25:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2048, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:25:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:25:13 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/25 15:25:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:25:13 INFO: [Worker 0] Sampled task 'Pick up the n95 mask with blue valve and place it in or on the ceramic bowl filled with rice and peas' [task_sampler.py: 1136] +05/25 15:25:13 INFO: [Worker 0] Worker 0 house 2048 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:25:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:25:14 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene [object_manager.py: 1238] +05/25 15:26:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 15:30:50 INFO: [Worker 0] Worker 0 house 2048 episode 0 object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 15:30:54 INFO: [Worker 0] Batching and saving trajectory data for house_2048: 1 episodes [pipeline.py: 233] +05/25 15:30:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 15:30:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 15:30:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2048 [save_utils.py: 703] +05/25 15:30:58 INFO: [Worker 0] Successfully saved trajectory data for house_2048 in 3.37s (batch: 3.17s, save: 0.20s) [pipeline.py: 280] +05/25 15:30:59 WARNING: [Worker 0] No trajectory data to save for house_2048 [pipeline.py: 229] +05/25 15:30:59 INFO: [Worker 0] Worker 0 completed house 2048: 0/1 successful episodes [pipeline.py: 1243] +05/25 15:30:59 INFO: [Worker 0] Worker 0 starting house 2107 (index 33/112) [pipeline.py: 473] +05/25 15:30:59 INFO: [Worker 0] Loaded 1 episodes for house 2107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 15:30:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 15:31:01 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/752b1b00e4734e448428ccbd8ddae76c [json_eval_task_sampler.py: 648] +05/25 15:31:01 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/25 15:31:01 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/25 15:31:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2107_ceiling.xml [task_sampler.py: 797] +05/25 15:31:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2107, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 15:31:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 15:31:06 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/25 15:31:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 15:31:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 15:31:06 INFO: [Worker 0] Sampled task 'Pick up the green rectangular tissue and place it in or on the cylindrical metal container with black lid' [task_sampler.py: 1136] +05/25 15:31:06 INFO: [Worker 0] Worker 0 house 2107 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 15:31:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 15:31:06 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene [object_manager.py: 1238] +05/25 15:31:06 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene [object_manager.py: 1238] +05/25 16:02:20 INFO: [Worker 0] Worker 0 house 2107 episode 0 object objatissuebox_6e9e9135bb5747f58d388e1e92477f02_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:02:25 INFO: [Worker 0] Batching and saving trajectory data for house_2107: 1 episodes [pipeline.py: 233] +05/25 16:02:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:02:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:02:29 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2107 [save_utils.py: 703] +05/25 16:02:29 INFO: [Worker 0] Successfully saved trajectory data for house_2107 in 3.59s (batch: 3.43s, save: 0.16s) [pipeline.py: 280] +05/25 16:02:30 WARNING: [Worker 0] No trajectory data to save for house_2107 [pipeline.py: 229] +05/25 16:02:30 INFO: [Worker 0] Worker 0 completed house 2107: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:02:30 INFO: [Worker 0] Worker 0 starting house 2138 (index 34/112) [pipeline.py: 473] +05/25 16:02:30 INFO: [Worker 0] Loaded 1 episodes for house 2138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:02:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/8c419f6d0cbc4580a2e2b9d273969b97 [json_eval_task_sampler.py: 648] +05/25 16:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/25 16:02:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/25 16:02:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2138_ceiling.xml [task_sampler.py: 797] +05/25 16:02:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2138, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:02:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:02:34 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/25 16:02:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:02:34 INFO: [Worker 0] Sampled task 'Pick up the black gaming mouse with green logo and place it in or on the rustic clay bowl with two handles' [task_sampler.py: 1136] +05/25 16:02:34 INFO: [Worker 0] Worker 0 house 2138 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:02:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:02:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:08:13 INFO: [Worker 0] Worker 0 house 2138 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 16:08:18 INFO: [Worker 0] Batching and saving trajectory data for house_2138: 1 episodes [pipeline.py: 233] +05/25 16:08:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:08:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:08:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2138 [save_utils.py: 703] +05/25 16:08:21 INFO: [Worker 0] Successfully saved trajectory data for house_2138 in 3.66s (batch: 3.52s, save: 0.14s) [pipeline.py: 280] +05/25 16:08:22 WARNING: [Worker 0] No trajectory data to save for house_2138 [pipeline.py: 229] +05/25 16:08:22 INFO: [Worker 0] Worker 0 completed house 2138: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:08:22 INFO: [Worker 0] Worker 0 starting house 2169 (index 35/112) [pipeline.py: 473] +05/25 16:08:22 INFO: [Worker 0] Loaded 1 episodes for house 2169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 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] +05/25 16:08:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_20 [json_eval_task_sampler.py: 648] +05/25 16:08:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 16:08:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_12 [json_eval_task_sampler.py: 648] +05/25 16:08:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2169_ceiling.xml [task_sampler.py: 797] +05/25 16:08:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2169, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:08:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:08:25 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/25 16:08:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:08:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:08:25 INFO: [Worker 0] Sampled task 'Pick up the white connector and place it in or on the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/25 16:08:25 INFO: [Worker 0] Worker 0 house 2169 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:08:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:08:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:11:11 INFO: [Worker 0] Worker 0 house 2169 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_2 completed with success=True [pipeline.py: 1114] +05/25 16:11:15 INFO: [Worker 0] Batching and saving trajectory data for house_2169: 1 episodes [pipeline.py: 233] +05/25 16:11:15 INFO: [Worker 0] Preparing episode data: 227 timesteps [save_utils.py: 284] +05/25 16:11:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:11:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2169 [save_utils.py: 703] +05/25 16:11:18 INFO: [Worker 0] Successfully saved trajectory data for house_2169 in 2.96s (batch: 2.83s, save: 0.13s) [pipeline.py: 280] +05/25 16:11:19 WARNING: [Worker 0] No trajectory data to save for house_2169 [pipeline.py: 229] +05/25 16:11:19 INFO: [Worker 0] Worker 0 completed house 2169: 1/1 successful episodes [pipeline.py: 1243] +05/25 16:11:19 INFO: [Worker 0] Worker 0 starting house 2201 (index 36/112) [pipeline.py: 473] +05/25 16:11:19 INFO: [Worker 0] Loaded 1 episodes for house 2201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:11:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:11:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0b0079b036c845139d5823255a34da7a [json_eval_task_sampler.py: 648] +05/25 16:11:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_6 [json_eval_task_sampler.py: 648] +05/25 16:11:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c2bd80794a3947238fe610f5733be9d2 [json_eval_task_sampler.py: 648] +05/25 16:11:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2201_ceiling.xml [task_sampler.py: 797] +05/25 16:11:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2201, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:11:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:11:21 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/25 16:11:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:11:21 INFO: [Worker 0] Sampled task 'Pick up the black grenade with red panels and place it in or on the matte dark gray bowl' [task_sampler.py: 1136] +05/25 16:11:21 INFO: [Worker 0] Worker 0 house 2201 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:11:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:11:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:14:51 INFO: [Worker 0] Worker 0 house 2201 episode 0 object objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:14:55 INFO: [Worker 0] Batching and saving trajectory data for house_2201: 1 episodes [pipeline.py: 233] +05/25 16:14:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:14:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:14:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2201 [save_utils.py: 703] +05/25 16:14:58 INFO: [Worker 0] Successfully saved trajectory data for house_2201 in 3.02s (batch: 2.85s, save: 0.17s) [pipeline.py: 280] +05/25 16:14:59 WARNING: [Worker 0] No trajectory data to save for house_2201 [pipeline.py: 229] +05/25 16:14:59 INFO: [Worker 0] Worker 0 completed house 2201: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:14:59 INFO: [Worker 0] Worker 0 starting house 2236 (index 37/112) [pipeline.py: 473] +05/25 16:14:59 INFO: [Worker 0] Loaded 1 episodes for house 2236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:14:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:15:00 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 16:15:00 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 16:15:00 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/25 16:15:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2236_ceiling.xml [task_sampler.py: 797] +05/25 16:15:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2236, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:15:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:15:02 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 16:15:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:15:02 INFO: [Worker 0] Sampled task 'Pick up the wide blue paintbrush with wooden handle and place it in or on the rusty metal tray with meat' [task_sampler.py: 1136] +05/25 16:15:02 INFO: [Worker 0] Worker 0 house 2236 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:15:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:18:42 INFO: [Worker 0] Worker 0 house 2236 episode 0 object objapaintbrush_0ad8219ee25b4f8ca5d68047e77597f8_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:18:46 INFO: [Worker 0] Batching and saving trajectory data for house_2236: 1 episodes [pipeline.py: 233] +05/25 16:18:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:18:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:18:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2236 [save_utils.py: 703] +05/25 16:18:49 INFO: [Worker 0] Successfully saved trajectory data for house_2236 in 2.93s (batch: 2.82s, save: 0.11s) [pipeline.py: 280] +05/25 16:18:50 WARNING: [Worker 0] No trajectory data to save for house_2236 [pipeline.py: 229] +05/25 16:18:50 INFO: [Worker 0] Worker 0 completed house 2236: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:18:50 INFO: [Worker 0] Worker 0 starting house 2273 (index 38/112) [pipeline.py: 473] +05/25 16:18:50 INFO: [Worker 0] Loaded 1 episodes for house 2273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:18:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:18:51 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_25 [json_eval_task_sampler.py: 648] +05/25 16:18:51 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/bfae6fa9a7f64b9eb16f57c05553c612 [json_eval_task_sampler.py: 648] +05/25 16:18:51 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/5fa7101ca3744068ae84b30dbf0a9240 [json_eval_task_sampler.py: 648] +05/25 16:18:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2273_ceiling.xml [task_sampler.py: 797] +05/25 16:18:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2273, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:18:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:18:54 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 16:18:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:18:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:18:55 INFO: [Worker 0] Sampled task 'Pick up the white strap sandal and place it in or on the earthy rustic bowl' [task_sampler.py: 1136] +05/25 16:18:55 INFO: [Worker 0] Worker 0 house 2273 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:18:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:18:55 WARNING: [Worker 0] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_7 in scene [object_manager.py: 1238] +05/25 16:18:55 WARNING: [Worker 0] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_2_0_7 in scene [object_manager.py: 1238] +05/25 16:18:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:24:15 INFO: [Worker 0] Worker 0 house 2273 episode 0 object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 16:24:19 INFO: [Worker 0] Batching and saving trajectory data for house_2273: 1 episodes [pipeline.py: 233] +05/25 16:24:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:24:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2273 [save_utils.py: 703] +05/25 16:24:22 INFO: [Worker 0] Successfully saved trajectory data for house_2273 in 3.01s (batch: 2.85s, save: 0.16s) [pipeline.py: 280] +05/25 16:24:22 WARNING: [Worker 0] No trajectory data to save for house_2273 [pipeline.py: 229] +05/25 16:24:22 INFO: [Worker 0] Worker 0 completed house 2273: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:24:22 INFO: [Worker 0] Worker 0 starting house 2327 (index 39/112) [pipeline.py: 473] +05/25 16:24:22 INFO: [Worker 0] Loaded 1 episodes for house 2327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:24:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:24:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/25 16:24:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_28 [json_eval_task_sampler.py: 648] +05/25 16:24:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 16:24:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2327_ceiling.xml [task_sampler.py: 797] +05/25 16:24:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2327, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:24:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:24:28 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/25 16:24:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:24:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:24:28 INFO: [Worker 0] Sampled task 'Pick up the blue and white cylindrical marker pen and place it in or on the glossy hemispherical bowl with earth map' [task_sampler.py: 1136] +05/25 16:24:28 INFO: [Worker 0] Worker 0 house 2327 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:24:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:29:17 INFO: [Worker 0] Worker 0 house 2327 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:29:22 INFO: [Worker 0] Batching and saving trajectory data for house_2327: 1 episodes [pipeline.py: 233] +05/25 16:29:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:29:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:29:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2327 [save_utils.py: 703] +05/25 16:29:26 INFO: [Worker 0] Successfully saved trajectory data for house_2327 in 3.93s (batch: 3.67s, save: 0.26s) [pipeline.py: 280] +05/25 16:29:27 WARNING: [Worker 0] No trajectory data to save for house_2327 [pipeline.py: 229] +05/25 16:29:27 INFO: [Worker 0] Worker 0 completed house 2327: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:29:27 INFO: [Worker 0] Worker 0 starting house 2372 (index 40/112) [pipeline.py: 473] +05/25 16:29:27 INFO: [Worker 0] Loaded 1 episodes for house 2372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:29:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:29:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/25 16:29:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/71c1d24834ca4725963d69d5bb0a5011 [json_eval_task_sampler.py: 648] +05/25 16:29:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/25 16:29:31 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 16:29:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2372_ceiling.xml [task_sampler.py: 797] +05/25 16:29:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2372, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:29:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:29:38 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/25 16:29:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:29:38 INFO: [Worker 0] Sampled task 'Pick up the ancient green metal axe and place it in or on the cylindrical metal container with black lid' [task_sampler.py: 1136] +05/25 16:29:38 INFO: [Worker 0] Worker 0 house 2372 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:29:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_5 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objadecorativeartifact_c1a2d05e1af049f0b0dd2899b2572cd7_1_0_5 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_7 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_9 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objaindoorsoccershoe_cfa41567512a4ab78cd3eca7b6a58adf_1_0_9 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_9 in scene [object_manager.py: 1238] +05/25 16:29:39 WARNING: [Worker 0] Could not find object objastopwatch_2d4d77ac85604a1ab61b934b19d301c8_1_0_9 in scene [object_manager.py: 1238] +05/25 16:37:56 INFO: [Worker 0] Worker 0 house 2372 episode 0 object objaantiquetool_2ecb104cc7284c62bb92d4d8068ce160_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:38:01 INFO: [Worker 0] Batching and saving trajectory data for house_2372: 1 episodes [pipeline.py: 233] +05/25 16:38:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:38:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2372 [save_utils.py: 703] +05/25 16:38:05 INFO: [Worker 0] Successfully saved trajectory data for house_2372 in 3.80s (batch: 3.64s, save: 0.16s) [pipeline.py: 280] +05/25 16:38:06 WARNING: [Worker 0] No trajectory data to save for house_2372 [pipeline.py: 229] +05/25 16:38:06 INFO: [Worker 0] Worker 0 completed house 2372: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:38:06 INFO: [Worker 0] Worker 0 starting house 2377 (index 41/112) [pipeline.py: 473] +05/25 16:38:06 INFO: [Worker 0] Loaded 2 episodes for house 2377 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:38:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:38:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 16:38:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3339ce474c3d4fb3a35952f476ca1e4a [json_eval_task_sampler.py: 648] +05/25 16:38:07 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 16:38:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2377_ceiling.xml [task_sampler.py: 797] +05/25 16:38:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2377, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:38:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:38:09 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 16:38:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:38:09 INFO: [Worker 0] Sampled task 'Pick up the stop watch and place it in or on the gray oval pet bowl' [task_sampler.py: 1136] +05/25 16:38:09 INFO: [Worker 0] Worker 0 house 2377 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 16:38:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:38:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:42:50 INFO: [Worker 0] Worker 0 house 2377 episode 0 object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:42:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:42:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/936714802d2849bea3efb1eb5c83cee6 [json_eval_task_sampler.py: 648] +05/25 16:42:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/3339ce474c3d4fb3a35952f476ca1e4a [json_eval_task_sampler.py: 648] +05/25 16:42:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b63ca5b519ba4920a6288da00d9224bd [json_eval_task_sampler.py: 648] +05/25 16:42:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2377_ceiling.xml [task_sampler.py: 797] +05/25 16:42:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2377, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:42:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:42:56 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/25 16:42:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:42:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:42:56 INFO: [Worker 0] Sampled task 'Pick up the stylized torch with yellow hexagonal handle and place it in or on the square pink box with patterns' [task_sampler.py: 1136] +05/25 16:42:56 INFO: [Worker 0] Worker 0 house 2377 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 16:42:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:42:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 16:46:15 INFO: [Worker 0] Worker 0 house 2377 episode 1 object objatorch_b78782db44344871945bf5ea4f2aac1c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 16:46:19 INFO: [Worker 0] Batching and saving trajectory data for house_2377: 2 episodes [pipeline.py: 233] +05/25 16:46:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:46:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:46:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:46:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:46:25 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2377 [save_utils.py: 703] +05/25 16:46:25 INFO: [Worker 0] Successfully saved trajectory data for house_2377 in 6.10s (batch: 5.81s, save: 0.29s) [pipeline.py: 280] +05/25 16:46:26 WARNING: [Worker 0] No trajectory data to save for house_2377 [pipeline.py: 229] +05/25 16:46:26 INFO: [Worker 0] Worker 0 completed house 2377: 0/2 successful episodes [pipeline.py: 1243] +05/25 16:46:26 INFO: [Worker 0] Worker 0 starting house 2398 (index 42/112) [pipeline.py: 473] +05/25 16:46:26 INFO: [Worker 0] Loaded 1 episodes for house 2398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:46:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9ce80ba1ec5a4dc6b0b06c8e69e141a0 [json_eval_task_sampler.py: 648] +05/25 16:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/25 16:46:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/bfdeafe4916c421e91dce2acb972d0f8 [json_eval_task_sampler.py: 648] +05/25 16:46:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2398_ceiling.xml [task_sampler.py: 797] +05/25 16:46:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2398, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:46:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:46:31 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/25 16:46:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:46:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:46:31 INFO: [Worker 0] Sampled task 'Pick up the textured gray egg carton holding eggs and place it in or on the woodeowl' [task_sampler.py: 1136] +05/25 16:46:31 INFO: [Worker 0] Worker 0 house 2398 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:46:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:46:32 WARNING: [Worker 0] Could not find object objareliefsculpture_decf9f2f1ac64b3ebf51c310194df9d4_1_0_2 in scene [object_manager.py: 1238] +05/25 16:46:32 WARNING: [Worker 0] Could not find object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 in scene [object_manager.py: 1238] +05/25 16:54:09 INFO: [Worker 0] Worker 0 house 2398 episode 0 object objaeggcarton_302286c578e146d9a0823426e5ab5a8f_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 16:54:13 INFO: [Worker 0] Batching and saving trajectory data for house_2398: 1 episodes [pipeline.py: 233] +05/25 16:54:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 16:54:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 16:54:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2398 [save_utils.py: 703] +05/25 16:54:17 INFO: [Worker 0] Successfully saved trajectory data for house_2398 in 3.13s (batch: 2.97s, save: 0.16s) [pipeline.py: 280] +05/25 16:54:17 WARNING: [Worker 0] No trajectory data to save for house_2398 [pipeline.py: 229] +05/25 16:54:17 INFO: [Worker 0] Worker 0 completed house 2398: 0/1 successful episodes [pipeline.py: 1243] +05/25 16:54:17 INFO: [Worker 0] Worker 0 starting house 2451 (index 43/112) [pipeline.py: 473] +05/25 16:54:17 INFO: [Worker 0] Loaded 1 episodes for house 2451 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 16:54:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 16:54:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/25 16:54:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_27 [json_eval_task_sampler.py: 648] +05/25 16:54:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/25 16:54:19 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 16:54:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2451_ceiling.xml [task_sampler.py: 797] +05/25 16:54:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2451, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 16:54:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 16:54:23 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 16:54:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 16:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 16:54:23 INFO: [Worker 0] Sampled task 'Pick up the black pocket watch and place it in or on the round ceramic bowl with patchwork' [task_sampler.py: 1136] +05/25 16:54:23 INFO: [Worker 0] Worker 0 house 2451 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 16:54:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 16:54:23 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene [object_manager.py: 1238] +05/25 16:54:23 WARNING: [Worker 0] Could not find object objaplushtoy_85b1dee46f64421580a4f74adb27c123_1_0_9 in scene [object_manager.py: 1238] +05/25 16:54:23 WARNING: [Worker 0] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_9 in scene [object_manager.py: 1238] +05/25 16:56:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:03:47 INFO: [Worker 0] Worker 0 house 2451 episode 0 object objapocketwatch_6fa91631177741b1949a4823b21c75bf_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 17:03:50 INFO: [Worker 0] Batching and saving trajectory data for house_2451: 1 episodes [pipeline.py: 233] +05/25 17:03:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:03:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:03:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2451 [save_utils.py: 703] +05/25 17:03:53 INFO: [Worker 0] Successfully saved trajectory data for house_2451 in 2.80s (batch: 2.69s, save: 0.11s) [pipeline.py: 280] +05/25 17:03:54 WARNING: [Worker 0] No trajectory data to save for house_2451 [pipeline.py: 229] +05/25 17:03:54 INFO: [Worker 0] Worker 0 completed house 2451: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:03:54 INFO: [Worker 0] Worker 0 starting house 2486 (index 44/112) [pipeline.py: 473] +05/25 17:03:54 INFO: [Worker 0] Loaded 1 episodes for house 2486 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:03:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:03:54 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b54b110dfccb4ea3a8f5a06cc65edc5a [json_eval_task_sampler.py: 648] +05/25 17:03:54 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/b88a0160da29481fb7866fda93457fe3 [json_eval_task_sampler.py: 648] +05/25 17:03:54 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03f1185ff6d4428fa81f6fc9db589338 [json_eval_task_sampler.py: 648] +05/25 17:03:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2486_ceiling.xml [task_sampler.py: 797] +05/25 17:03:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2486, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:03:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:03:56 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 17:03:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:03:56 INFO: [Worker 0] Sampled task 'Pick up the smooth matte light brown egg and place it in or on the round wooden bowl with grain' [task_sampler.py: 1136] +05/25 17:03:56 INFO: [Worker 0] Worker 0 house 2486 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:03:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:03:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:08:21 INFO: [Worker 0] Worker 0 house 2486 episode 0 object objaegg_1a4eb7ec11bf44358f5cfe2577a0fa49_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 17:08:25 INFO: [Worker 0] Batching and saving trajectory data for house_2486: 1 episodes [pipeline.py: 233] +05/25 17:08:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:08:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:08:29 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2486 [save_utils.py: 703] +05/25 17:08:29 INFO: [Worker 0] Successfully saved trajectory data for house_2486 in 3.28s (batch: 3.09s, save: 0.20s) [pipeline.py: 280] +05/25 17:08:30 WARNING: [Worker 0] No trajectory data to save for house_2486 [pipeline.py: 229] +05/25 17:08:30 INFO: [Worker 0] Worker 0 completed house 2486: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:08:30 INFO: [Worker 0] Worker 0 starting house 2541 (index 45/112) [pipeline.py: 473] +05/25 17:08:30 INFO: [Worker 0] Loaded 1 episodes for house 2541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:08:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:08:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/fdfd829fe39049a69f6df2289b29dc7f [json_eval_task_sampler.py: 648] +05/25 17:08:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7d2737e16fcf4d40bc549521ba6a2d02 [json_eval_task_sampler.py: 648] +05/25 17:08:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/03fa6768245446f4bab866db37a6caec [json_eval_task_sampler.py: 648] +05/25 17:08:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2541_ceiling.xml [task_sampler.py: 797] +05/25 17:08:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2541, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:08:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:08:35 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/25 17:08:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:08:35 INFO: [Worker 0] Sampled task 'Pick up the screwdriver and place it in or on the ceramic bowl filled with rice and peas' [task_sampler.py: 1136] +05/25 17:08:35 INFO: [Worker 0] Worker 0 house 2541 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:08:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:08:35 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_5 in scene [object_manager.py: 1238] +05/25 17:08:35 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene [object_manager.py: 1238] +05/25 17:08:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:13:10 INFO: [Worker 0] Worker 0 house 2541 episode 0 object objascrewdriver_c4202c1c8d9e4e57a1b6581569bfa99d_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 17:13:14 INFO: [Worker 0] Batching and saving trajectory data for house_2541: 1 episodes [pipeline.py: 233] +05/25 17:13:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:13:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:13:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2541 [save_utils.py: 703] +05/25 17:13:17 INFO: [Worker 0] Successfully saved trajectory data for house_2541 in 3.31s (batch: 3.16s, save: 0.15s) [pipeline.py: 280] +05/25 17:13:18 WARNING: [Worker 0] No trajectory data to save for house_2541 [pipeline.py: 229] +05/25 17:13:18 INFO: [Worker 0] Worker 0 completed house 2541: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:13:18 INFO: [Worker 0] Worker 0 starting house 2586 (index 46/112) [pipeline.py: 473] +05/25 17:13:18 INFO: [Worker 0] Loaded 1 episodes for house 2586 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:13:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 17:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/25 17:13:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 17:13:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2586_ceiling.xml [task_sampler.py: 797] +05/25 17:13:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2586, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:13:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:13:26 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/25 17:13:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:13:26 INFO: [Worker 0] Sampled task 'Pick up the golden ornate collar with gemstone and place it in or on the red geometric patterned bowl' [task_sampler.py: 1136] +05/25 17:13:26 INFO: [Worker 0] Worker 0 house 2586 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:13:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:13:26 WARNING: [Worker 0] Could not find object objaminiaturebuilding_8bf6696d6f584510ae232b7933a43309_1_0_7 in scene [object_manager.py: 1238] +05/25 17:13:26 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 in scene [object_manager.py: 1238] +05/25 17:29:02 INFO: [Worker 0] Worker 0 house 2586 episode 0 object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 17:29:06 INFO: [Worker 0] Batching and saving trajectory data for house_2586: 1 episodes [pipeline.py: 233] +05/25 17:29:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:29:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:29:09 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2586 [save_utils.py: 703] +05/25 17:29:09 INFO: [Worker 0] Successfully saved trajectory data for house_2586 in 3.02s (batch: 2.87s, save: 0.15s) [pipeline.py: 280] +05/25 17:29:10 WARNING: [Worker 0] No trajectory data to save for house_2586 [pipeline.py: 229] +05/25 17:29:10 INFO: [Worker 0] Worker 0 completed house 2586: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:29:10 INFO: [Worker 0] Worker 0 starting house 2595 (index 47/112) [pipeline.py: 473] +05/25 17:29:10 INFO: [Worker 0] Loaded 2 episodes for house 2595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:29:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:29:59 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 17:29:59 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 17:29:59 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 17:30:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2595_ceiling.xml [task_sampler.py: 797] +05/25 17:30:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2595, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:30:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:30:05 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 17:30:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:30:06 INFO: [Worker 0] Sampled task 'Pick up the triangular pie slice with creamy filling and place it in or on the rusty metal tray with powdered meat' [task_sampler.py: 1136] +05/25 17:30:06 INFO: [Worker 0] Worker 0 house 2595 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 17:30:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:30:06 WARNING: [Worker 0] Could not find object objadecorativekey_fa8b7bffc1bb49988337d579e8362ba4_1_0_5 in scene [object_manager.py: 1238] +05/25 17:36:27 INFO: [Worker 0] Worker 0 house 2595 episode 0 object objapieslice_3bd13fb2f2c84792a8e939d6f2c6a228_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 17:36:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1bac786df9e446a795e442a83f49056a [json_eval_task_sampler.py: 648] +05/25 17:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0500b0d9ef6f40dd96591d7b354c9ede [json_eval_task_sampler.py: 648] +05/25 17:36:33 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 17:36:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2595_ceiling.xml [task_sampler.py: 797] +05/25 17:36:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2595, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:36:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:36:39 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/25 17:36:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:36:39 INFO: [Worker 0] Sampled task 'Pick up the futuristic soldier in blue armor and place it in or on the instrumentality' [task_sampler.py: 1136] +05/25 17:36:39 INFO: [Worker 0] Worker 0 house 2595 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 17:36:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:36:40 WARNING: [Worker 0] Could not find object objadecorativekey_fa8b7bffc1bb49988337d579e8362ba4_1_0_5 in scene [object_manager.py: 1238] +05/25 17:38:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 17:44:50 INFO: [Worker 0] Worker 0 house 2595 episode 1 object objaactionfigure_34cdad8cc6f54e15b8c42d1094085e3d_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 17:44:56 INFO: [Worker 0] Batching and saving trajectory data for house_2595: 2 episodes [pipeline.py: 233] +05/25 17:44:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:45:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:45:04 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2595 [save_utils.py: 703] +05/25 17:45:04 INFO: [Worker 0] Successfully saved trajectory data for house_2595 in 8.43s (batch: 8.11s, save: 0.32s) [pipeline.py: 280] +05/25 17:45:05 WARNING: [Worker 0] No trajectory data to save for house_2595 [pipeline.py: 229] +05/25 17:45:05 INFO: [Worker 0] Worker 0 completed house 2595: 0/2 successful episodes [pipeline.py: 1243] +05/25 17:45:05 INFO: [Worker 0] Worker 0 starting house 2627 (index 48/112) [pipeline.py: 473] +05/25 17:45:05 INFO: [Worker 0] Loaded 1 episodes for house 2627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:45:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:45:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 17:45:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/25 17:45:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cfe3c9eed1554f59ad7756e27d97c667 [json_eval_task_sampler.py: 648] +05/25 17:45:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2627_ceiling.xml [task_sampler.py: 797] +05/25 17:45:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2627, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:45:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:45:15 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/25 17:45:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:45:15 INFO: [Worker 0] Sampled task 'Pick up the creamy white porous natural sponge and place it in or on the shallow ceramic dish with handle and pattern' [task_sampler.py: 1136] +05/25 17:45:15 INFO: [Worker 0] Worker 0 house 2627 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:45:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:54:13 INFO: [Worker 0] Worker 0 house 2627 episode 0 object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 completed with success=False [pipeline.py: 1114] +05/25 17:54:18 INFO: [Worker 0] Batching and saving trajectory data for house_2627: 1 episodes [pipeline.py: 233] +05/25 17:54:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 17:54:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 17:54:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2627 [save_utils.py: 703] +05/25 17:54:21 INFO: [Worker 0] Successfully saved trajectory data for house_2627 in 3.15s (batch: 3.03s, save: 0.12s) [pipeline.py: 280] +05/25 17:54:21 WARNING: [Worker 0] No trajectory data to save for house_2627 [pipeline.py: 229] +05/25 17:54:21 INFO: [Worker 0] Worker 0 completed house 2627: 0/1 successful episodes [pipeline.py: 1243] +05/25 17:54:21 INFO: [Worker 0] Worker 0 starting house 2700 (index 49/112) [pipeline.py: 473] +05/25 17:54:21 INFO: [Worker 0] Loaded 1 episodes for house 2700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 17:54:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2 [json_eval_task_sampler.py: 648] +05/25 17:54:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 17:54:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2700_ceiling.xml [task_sampler.py: 797] +05/25 17:54:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2700, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 17:54:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 17:54:25 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/25 17:54:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 17:54:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 17:54:25 INFO: [Worker 0] Sampled task 'Pick up the guitar effects pedal and place it in or on the small round brown bowl' [task_sampler.py: 1136] +05/25 17:54:25 INFO: [Worker 0] Worker 0 house 2700 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 17:54:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 17:57:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:04:06 INFO: [Worker 0] Worker 0 house 2700 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 18:04:12 INFO: [Worker 0] Batching and saving trajectory data for house_2700: 1 episodes [pipeline.py: 233] +05/25 18:04:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:04:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:04:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2700 [save_utils.py: 703] +05/25 18:04:17 INFO: [Worker 0] Successfully saved trajectory data for house_2700 in 5.09s (batch: 4.78s, save: 0.32s) [pipeline.py: 280] +05/25 18:04:18 WARNING: [Worker 0] No trajectory data to save for house_2700 [pipeline.py: 229] +05/25 18:04:18 INFO: [Worker 0] Worker 0 completed house 2700: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:04:18 INFO: [Worker 0] Worker 0 starting house 2747 (index 50/112) [pipeline.py: 473] +05/25 18:04:18 INFO: [Worker 0] Loaded 1 episodes for house 2747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 18:04:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a2e1b30c4fbb491e9aeff5cccdfc00ec [json_eval_task_sampler.py: 648] +05/25 18:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/25 18:04:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/2b2f2afe691143b1a0d9c56141b028f9 [json_eval_task_sampler.py: 648] +05/25 18:04:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2747_ceiling.xml [task_sampler.py: 797] +05/25 18:04:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2747, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:04:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:04:30 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 18:04:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:04:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:04:30 INFO: [Worker 0] Sampled task 'Pick up the glossy green beetle figurine with legs and place it in or on the white ceramic mug' [task_sampler.py: 1136] +05/25 18:04:30 INFO: [Worker 0] Worker 0 house 2747 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:04:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:12:34 INFO: [Worker 0] Worker 0 house 2747 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 18:12:39 INFO: [Worker 0] Batching and saving trajectory data for house_2747: 1 episodes [pipeline.py: 233] +05/25 18:12:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:12:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:12:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2747 [save_utils.py: 703] +05/25 18:12:43 INFO: [Worker 0] Successfully saved trajectory data for house_2747 in 3.62s (batch: 3.42s, save: 0.20s) [pipeline.py: 280] +05/25 18:12:44 WARNING: [Worker 0] No trajectory data to save for house_2747 [pipeline.py: 229] +05/25 18:12:44 INFO: [Worker 0] Worker 0 completed house 2747: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:12:44 INFO: [Worker 0] Worker 0 starting house 2790 (index 51/112) [pipeline.py: 473] +05/25 18:12:44 INFO: [Worker 0] Loaded 1 episodes for house 2790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 18:12:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:13:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/25 18:13:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/9ed70e7516894535a9e208904f8db364 [json_eval_task_sampler.py: 648] +05/25 18:13:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_18 [json_eval_task_sampler.py: 648] +05/25 18:13:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2790_ceiling.xml [task_sampler.py: 797] +05/25 18:13:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2790, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:13:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:13:18 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/25 18:13:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:13:18 INFO: [Worker 0] Sampled task 'Pick up the small black cylindrical motor with wires and place it in or on the rectangular shallow glossy ceramic dish' [task_sampler.py: 1136] +05/25 18:13:18 INFO: [Worker 0] Worker 0 house 2790 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:13:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:15:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:23:47 INFO: [Worker 0] Worker 0 house 2790 episode 0 object objamotor_566fa767da0d451db4375018372f2e83_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 18:23:53 INFO: [Worker 0] Batching and saving trajectory data for house_2790: 1 episodes [pipeline.py: 233] +05/25 18:23:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:23:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:23:57 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2790 [save_utils.py: 703] +05/25 18:23:57 INFO: [Worker 0] Successfully saved trajectory data for house_2790 in 3.53s (batch: 3.37s, save: 0.16s) [pipeline.py: 280] +05/25 18:23:58 WARNING: [Worker 0] No trajectory data to save for house_2790 [pipeline.py: 229] +05/25 18:23:58 INFO: [Worker 0] Worker 0 completed house 2790: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:23:58 INFO: [Worker 0] Worker 0 starting house 2849 (index 52/112) [pipeline.py: 473] +05/25 18:23:58 INFO: [Worker 0] Loaded 1 episodes for house 2849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 18:23:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:24:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 18:24:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e9670b35612840bd92354dd8936d3c6a [json_eval_task_sampler.py: 648] +05/25 18:24:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/25 18:24:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2849_ceiling.xml [task_sampler.py: 797] +05/25 18:24:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2849, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:24:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:24:16 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/25 18:24:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:24:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:24:16 INFO: [Worker 0] Sampled task 'Pick up the black rectangular electronic device and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 18:24:16 INFO: [Worker 0] Worker 0 house 2849 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:24:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:27:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:32:16 INFO: [Worker 0] Worker 0 house 2849 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 18:32:20 INFO: [Worker 0] Batching and saving trajectory data for house_2849: 1 episodes [pipeline.py: 233] +05/25 18:32:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:32:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:32:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2849 [save_utils.py: 703] +05/25 18:32:23 INFO: [Worker 0] Successfully saved trajectory data for house_2849 in 2.93s (batch: 2.79s, save: 0.14s) [pipeline.py: 280] +05/25 18:32:24 WARNING: [Worker 0] No trajectory data to save for house_2849 [pipeline.py: 229] +05/25 18:32:24 INFO: [Worker 0] Worker 0 completed house 2849: 0/1 successful episodes [pipeline.py: 1243] +05/25 18:32:24 INFO: [Worker 0] Worker 0 starting house 2916 (index 53/112) [pipeline.py: 473] +05/25 18:32:24 INFO: [Worker 0] Loaded 2 episodes for house 2916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 18:32:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:32:24 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/25 18:32:24 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 18:32:24 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 18:32:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2916_ceiling.xml [task_sampler.py: 797] +05/25 18:32:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2916, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:32:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:32:26 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 18:32:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:32:26 INFO: [Worker 0] Sampled task 'Pick up the nightvisiongoggles and place it in or on the gray ceramic bowl' [task_sampler.py: 1136] +05/25 18:32:26 INFO: [Worker 0] Worker 0 house 2916 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 18:32:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:34:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:38:27 INFO: [Worker 0] Worker 0 house 2916 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 18:38:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:38:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/25 18:38:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/25 18:38:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/10578ce7eca64714b260b142553f34f5 [json_eval_task_sampler.py: 648] +05/25 18:38:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2916_ceiling.xml [task_sampler.py: 797] +05/25 18:38:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2916, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:38:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:38:44 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/25 18:38:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:38:44 INFO: [Worker 0] Sampled task 'Pick up the binocular night vision goggles beige and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 18:38:44 INFO: [Worker 0] Worker 0 house 2916 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 18:38:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:42:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 18:49:04 INFO: [Worker 0] Worker 0 house 2916 episode 1 object objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 18:49:10 INFO: [Worker 0] Batching and saving trajectory data for house_2916: 2 episodes [pipeline.py: 233] +05/25 18:49:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:49:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 18:49:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:49:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 18:49:19 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2916 [save_utils.py: 703] +05/25 18:49:19 INFO: [Worker 0] Successfully saved trajectory data for house_2916 in 9.06s (batch: 8.56s, save: 0.50s) [pipeline.py: 280] +05/25 18:49:20 WARNING: [Worker 0] No trajectory data to save for house_2916 [pipeline.py: 229] +05/25 18:49:20 INFO: [Worker 0] Worker 0 completed house 2916: 0/2 successful episodes [pipeline.py: 1243] +05/25 18:49:20 INFO: [Worker 0] Worker 0 starting house 2920 (index 54/112) [pipeline.py: 473] +05/25 18:49:20 INFO: [Worker 0] Loaded 1 episodes for house 2920 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 18:49:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 18:49:29 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d50f554707f24584b988e2feea162cc5 [json_eval_task_sampler.py: 648] +05/25 18:49:29 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/7bf14a57ee5345689c3efd4bd1616466 [json_eval_task_sampler.py: 648] +05/25 18:49:29 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/25 18:49:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2920_ceiling.xml [task_sampler.py: 797] +05/25 18:49:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2920, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 18:49:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 18:49:32 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/25 18:49:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 18:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 18:49:32 INFO: [Worker 0] Sampled task 'Pick up the old metal handplane with brass knob and place it in or on the wavy ceramic bowl' [task_sampler.py: 1136] +05/25 18:49:32 INFO: [Worker 0] Worker 0 house 2920 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 18:49:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 18:53:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:02:24 INFO: [Worker 0] Worker 0 house 2920 episode 0 object objahandplane_1213fd35d3394f29ad266101ddef9156_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 19:02:29 INFO: [Worker 0] Batching and saving trajectory data for house_2920: 1 episodes [pipeline.py: 233] +05/25 19:02:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:02:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:02:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2920 [save_utils.py: 703] +05/25 19:02:32 INFO: [Worker 0] Successfully saved trajectory data for house_2920 in 3.78s (batch: 3.62s, save: 0.16s) [pipeline.py: 280] +05/25 19:02:33 WARNING: [Worker 0] No trajectory data to save for house_2920 [pipeline.py: 229] +05/25 19:02:33 INFO: [Worker 0] Worker 0 completed house 2920: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:02:33 INFO: [Worker 0] Worker 0 starting house 2993 (index 55/112) [pipeline.py: 473] +05/25 19:02:33 INFO: [Worker 0] Loaded 1 episodes for house 2993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:02:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:02:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 19:02:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 19:02:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/25 19:02:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2993_ceiling.xml [task_sampler.py: 797] +05/25 19:02:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:02:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:02:39 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/25 19:02:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:02:39 INFO: [Worker 0] Sampled task 'Pick up the pale bone with small triangular teeth and place it in or on the glossy blue and brown bowl' [task_sampler.py: 1136] +05/25 19:02:39 INFO: [Worker 0] Worker 0 house 2993 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:02:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:02:39 WARNING: [Worker 0] Could not find object objaantler_591bf375bf3b45099d70432632bc9296_1_0_2 in scene [object_manager.py: 1238] +05/25 19:02:39 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_2 in scene [object_manager.py: 1238] +05/25 19:02:39 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene [object_manager.py: 1238] +05/25 19:02:39 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene [object_manager.py: 1238] +05/25 19:06:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:11:08 INFO: [Worker 0] Worker 0 house 2993 episode 0 object objabone_8c1d6040fd2f490981bf87dd4bcb636c_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 19:11:11 INFO: [Worker 0] Batching and saving trajectory data for house_2993: 1 episodes [pipeline.py: 233] +05/25 19:11:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:11:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:11:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_2993 [save_utils.py: 703] +05/25 19:11:14 INFO: [Worker 0] Successfully saved trajectory data for house_2993 in 2.69s (batch: 2.58s, save: 0.11s) [pipeline.py: 280] +05/25 19:11:15 WARNING: [Worker 0] No trajectory data to save for house_2993 [pipeline.py: 229] +05/25 19:11:15 INFO: [Worker 0] Worker 0 completed house 2993: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:11:15 INFO: [Worker 0] Worker 0 starting house 3072 (index 56/112) [pipeline.py: 473] +05/25 19:11:15 INFO: [Worker 0] Loaded 1 episodes for house 3072 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:11:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:11:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4bf7b7b26a704818b1ed3d703a11855b [json_eval_task_sampler.py: 648] +05/25 19:11:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/25 19:11:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/25 19:11:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3072_ceiling.xml [task_sampler.py: 797] +05/25 19:11:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3072, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:11:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:11:32 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/25 19:11:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:11:32 INFO: [Worker 0] Sampled task 'Pick up the decorative chain and place it in or on the rectangular brown medical case' [task_sampler.py: 1136] +05/25 19:11:32 INFO: [Worker 0] Worker 0 house 3072 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:11:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:11:33 WARNING: [Worker 0] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_2_0_4 in scene [object_manager.py: 1238] +05/25 19:11:33 WARNING: [Worker 0] Could not find object objaicon_c4a8fd71e3424524b20726223ee23883_1_0_6 in scene [object_manager.py: 1238] +05/25 19:11:33 WARNING: [Worker 0] Could not find object objadecorativetorch_c9c9a8e0c9b34c09b237bc91ff5c21e3_1_0_9 in scene [object_manager.py: 1238] +05/25 19:11:33 WARNING: [Worker 0] Could not find object objasandal_94195535f92b4f8aad6f93ea80736155_1_0_9 in scene [object_manager.py: 1238] +05/25 19:13:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:18:54 INFO: [Worker 0] Worker 0 house 3072 episode 0 object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:18:58 INFO: [Worker 0] Batching and saving trajectory data for house_3072: 1 episodes [pipeline.py: 233] +05/25 19:18:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:19:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:19:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3072 [save_utils.py: 703] +05/25 19:19:01 INFO: [Worker 0] Successfully saved trajectory data for house_3072 in 3.04s (batch: 2.92s, save: 0.12s) [pipeline.py: 280] +05/25 19:19:02 WARNING: [Worker 0] No trajectory data to save for house_3072 [pipeline.py: 229] +05/25 19:19:02 INFO: [Worker 0] Worker 0 completed house 3072: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:19:02 INFO: [Worker 0] Worker 0 starting house 3122 (index 57/112) [pipeline.py: 473] +05/25 19:19:02 INFO: [Worker 0] Loaded 1 episodes for house 3122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:19:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:19:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/2b5fd8656f2b43cba43cb0e25a2cb838 [json_eval_task_sampler.py: 648] +05/25 19:19:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 19:19:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/1df7263c6e094645987c61c5d60e67d5 [json_eval_task_sampler.py: 648] +05/25 19:19:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3122_ceiling.xml [task_sampler.py: 797] +05/25 19:19:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3122, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:19:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:19:11 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/25 19:19:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:19:11 INFO: [Worker 0] Sampled task 'Pick up the blue wavy porous cleaning sponge and place it in or on the round blue bowl' [task_sampler.py: 1136] +05/25 19:19:11 INFO: [Worker 0] Worker 0 house 3122 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:19:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:21:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:26:12 INFO: [Worker 0] Worker 0 house 3122 episode 0 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:26:17 INFO: [Worker 0] Batching and saving trajectory data for house_3122: 1 episodes [pipeline.py: 233] +05/25 19:26:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:26:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:26:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3122 [save_utils.py: 703] +05/25 19:26:21 INFO: [Worker 0] Successfully saved trajectory data for house_3122 in 4.02s (batch: 3.86s, save: 0.16s) [pipeline.py: 280] +05/25 19:26:22 WARNING: [Worker 0] No trajectory data to save for house_3122 [pipeline.py: 229] +05/25 19:26:22 INFO: [Worker 0] Worker 0 completed house 3122: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:26:22 INFO: [Worker 0] Worker 0 starting house 3182 (index 58/112) [pipeline.py: 473] +05/25 19:26:22 INFO: [Worker 0] Loaded 1 episodes for house 3182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:26:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:26:42 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/c44ac768e7304df58ebf13ba4c6eed11 [json_eval_task_sampler.py: 648] +05/25 19:26:42 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/25 19:26:42 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 19:26:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3182_ceiling.xml [task_sampler.py: 797] +05/25 19:26:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3182, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:26:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:26:48 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/25 19:26:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:26:48 INFO: [Worker 0] Sampled task 'Pick up the rustic round clay dish with handles and place it in or on the gray bowl' [task_sampler.py: 1136] +05/25 19:26:48 INFO: [Worker 0] Worker 0 house 3182 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:26:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:36:12 INFO: [Worker 0] Worker 0 house 3182 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 19:36:17 INFO: [Worker 0] Batching and saving trajectory data for house_3182: 1 episodes [pipeline.py: 233] +05/25 19:36:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:36:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:36:20 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3182 [save_utils.py: 703] +05/25 19:36:20 INFO: [Worker 0] Successfully saved trajectory data for house_3182 in 3.16s (batch: 3.01s, save: 0.16s) [pipeline.py: 280] +05/25 19:36:20 WARNING: [Worker 0] No trajectory data to save for house_3182 [pipeline.py: 229] +05/25 19:36:20 INFO: [Worker 0] Worker 0 completed house 3182: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:36:20 INFO: [Worker 0] Worker 0 starting house 3261 (index 59/112) [pipeline.py: 473] +05/25 19:36:20 INFO: [Worker 0] Loaded 1 episodes for house 3261 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:36:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:36:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/25 19:36:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e776cc1b82d54420a55e924510c027c5 [json_eval_task_sampler.py: 648] +05/25 19:36:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/94f253a91bc14f21be83592faf5891ff [json_eval_task_sampler.py: 648] +05/25 19:36:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3261_ceiling.xml [task_sampler.py: 797] +05/25 19:36:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3261, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:36:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:36:52 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/25 19:36:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:36:52 INFO: [Worker 0] Sampled task 'Pick up the audiorecorder and place it in or on the square ashtray with deep cavity' [task_sampler.py: 1136] +05/25 19:36:52 INFO: [Worker 0] Worker 0 house 3261 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:36:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:46:15 INFO: [Worker 0] Worker 0 house 3261 episode 0 object objaaudiorecorder_365f49f16bd147b5b37517882207d1a6_1_0_3 completed with success=False [pipeline.py: 1114] +05/25 19:46:21 INFO: [Worker 0] Batching and saving trajectory data for house_3261: 1 episodes [pipeline.py: 233] +05/25 19:46:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:46:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:46:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3261 [save_utils.py: 703] +05/25 19:46:25 INFO: [Worker 0] Successfully saved trajectory data for house_3261 in 4.15s (batch: 3.99s, save: 0.17s) [pipeline.py: 280] +05/25 19:46:26 WARNING: [Worker 0] No trajectory data to save for house_3261 [pipeline.py: 229] +05/25 19:46:26 INFO: [Worker 0] Worker 0 completed house 3261: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:46:26 INFO: [Worker 0] Worker 0 starting house 3302 (index 60/112) [pipeline.py: 473] +05/25 19:46:26 INFO: [Worker 0] Loaded 1 episodes for house 3302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:46:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 19:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/25 19:47:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/45bb173c0384450487421b687bf3bf5b [json_eval_task_sampler.py: 648] +05/25 19:47:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3302_ceiling.xml [task_sampler.py: 797] +05/25 19:47:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3302, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:47:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:47:09 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/25 19:47:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:47:09 INFO: [Worker 0] Sampled task 'Pick up the handheld device with circular component and place it in or on the rustic light wooden box' [task_sampler.py: 1136] +05/25 19:47:09 INFO: [Worker 0] Worker 0 house 3302 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:47:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:50:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 19:57:42 INFO: [Worker 0] Worker 0 house 3302 episode 0 object objahandhelddevice_1959d381652c4312a78b18e11a4c4b5b_1_0_9 completed with success=False [pipeline.py: 1114] +05/25 19:57:46 INFO: [Worker 0] Batching and saving trajectory data for house_3302: 1 episodes [pipeline.py: 233] +05/25 19:57:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 19:57:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 19:57:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3302 [save_utils.py: 703] +05/25 19:57:49 INFO: [Worker 0] Successfully saved trajectory data for house_3302 in 2.90s (batch: 2.75s, save: 0.14s) [pipeline.py: 280] +05/25 19:57:49 WARNING: [Worker 0] No trajectory data to save for house_3302 [pipeline.py: 229] +05/25 19:57:49 INFO: [Worker 0] Worker 0 completed house 3302: 0/1 successful episodes [pipeline.py: 1243] +05/25 19:57:49 INFO: [Worker 0] Worker 0 starting house 3320 (index 61/112) [pipeline.py: 473] +05/25 19:57:49 INFO: [Worker 0] Loaded 1 episodes for house 3320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 19:57:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 19:57:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/25 19:57:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/25 19:57:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 19:57:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3320_ceiling.xml [task_sampler.py: 797] +05/25 19:57:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 19:57:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 19:57:58 INFO: [Worker 0] randomize_scene: Setting poses for 124 objects [json_eval_task_sampler.py: 686] +05/25 19:57:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 19:57:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 19:57:58 INFO: [Worker 0] Sampled task 'Pick up the card with pink bow and place it in or on the red and black chicken food container' [task_sampler.py: 1136] +05/25 19:57:58 INFO: [Worker 0] Worker 0 house 3320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 19:57:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 19:57:58 WARNING: [Worker 0] Could not find object objafilmprojector_86d598d49762456ba1de430a50a389cf_1_0_5 in scene [object_manager.py: 1238] +05/25 19:57:58 WARNING: [Worker 0] Could not find object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 in scene [object_manager.py: 1238] +05/25 19:57:58 WARNING: [Worker 0] Could not find object objaviolin_74dd3cfb132c4f0aa2c1f128ac8fc0de_1_0_9 in scene [object_manager.py: 1238] +05/25 19:57:58 WARNING: [Worker 0] Could not find object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9 in scene [object_manager.py: 1238] +05/25 20:05:01 INFO: [Worker 0] Worker 0 house 3320 episode 0 object objadecorativecard_65c3c59dcda94798b4f95a1817325f33_1_0_4 completed with success=False [pipeline.py: 1114] +05/25 20:05:06 INFO: [Worker 0] Batching and saving trajectory data for house_3320: 1 episodes [pipeline.py: 233] +05/25 20:05:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:05:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:05:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3320 [save_utils.py: 703] +05/25 20:05:10 INFO: [Worker 0] Successfully saved trajectory data for house_3320 in 3.98s (batch: 3.69s, save: 0.29s) [pipeline.py: 280] +05/25 20:05:11 WARNING: [Worker 0] No trajectory data to save for house_3320 [pipeline.py: 229] +05/25 20:05:11 INFO: [Worker 0] Worker 0 completed house 3320: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:05:11 INFO: [Worker 0] Worker 0 starting house 3360 (index 62/112) [pipeline.py: 473] +05/25 20:05:11 INFO: [Worker 0] Loaded 1 episodes for house 3360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 20:05:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:05:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/3b145885d881488887d90a98b3cde06f [json_eval_task_sampler.py: 648] +05/25 20:05:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 20:05:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 20:05:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3360_ceiling.xml [task_sampler.py: 797] +05/25 20:05:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3360, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:05:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:05:32 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/25 20:05:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:05:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:05:32 INFO: [Worker 0] Sampled task 'Pick up the spanish onion and place it in or on the round shallow marbled gray bowl' [task_sampler.py: 1136] +05/25 20:05:32 INFO: [Worker 0] Worker 0 house 3360 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:05:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:09:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:19:47 INFO: [Worker 0] Worker 0 house 3360 episode 0 object objaonion_ac1c4812513a408cbe1b8bea3ce517fb_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 20:19:52 INFO: [Worker 0] Batching and saving trajectory data for house_3360: 1 episodes [pipeline.py: 233] +05/25 20:19:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:19:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:19:57 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3360 [save_utils.py: 703] +05/25 20:19:57 INFO: [Worker 0] Successfully saved trajectory data for house_3360 in 4.79s (batch: 4.45s, save: 0.35s) [pipeline.py: 280] +05/25 20:19:58 WARNING: [Worker 0] No trajectory data to save for house_3360 [pipeline.py: 229] +05/25 20:19:58 INFO: [Worker 0] Worker 0 completed house 3360: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:19:58 INFO: [Worker 0] Worker 0 starting house 3415 (index 63/112) [pipeline.py: 473] +05/25 20:19:58 INFO: [Worker 0] Loaded 1 episodes for house 3415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 20:19:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:20:06 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/25 20:20:06 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_13 [json_eval_task_sampler.py: 648] +05/25 20:20:06 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_7 [json_eval_task_sampler.py: 648] +05/25 20:20:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3415_ceiling.xml [task_sampler.py: 797] +05/25 20:20:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3415, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:20:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:20:12 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/25 20:20:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:20:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:20:13 INFO: [Worker 0] Sampled task 'Pick up the blue spiral calendar and place it in or on the gray ceramic bowl' [task_sampler.py: 1136] +05/25 20:20:13 INFO: [Worker 0] Worker 0 house 3415 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:20:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:20:13 WARNING: [Worker 0] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene [object_manager.py: 1238] +05/25 20:20:13 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene [object_manager.py: 1238] +05/25 20:20:13 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_7 in scene [object_manager.py: 1238] +05/25 20:20:13 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_7 in scene [object_manager.py: 1238] +05/25 20:22:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:27:40 INFO: [Worker 0] Worker 0 house 3415 episode 0 object objadeskcalendar_af79a9504f2b44a881de51b09b26ead8_2_0_6 completed with success=False [pipeline.py: 1114] +05/25 20:27:43 INFO: [Worker 0] Batching and saving trajectory data for house_3415: 1 episodes [pipeline.py: 233] +05/25 20:27:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:27:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:27:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3415 [save_utils.py: 703] +05/25 20:27:46 INFO: [Worker 0] Successfully saved trajectory data for house_3415 in 2.79s (batch: 2.68s, save: 0.11s) [pipeline.py: 280] +05/25 20:27:47 WARNING: [Worker 0] No trajectory data to save for house_3415 [pipeline.py: 229] +05/25 20:27:47 INFO: [Worker 0] Worker 0 completed house 3415: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:27:47 INFO: [Worker 0] Worker 0 starting house 3417 (index 64/112) [pipeline.py: 473] +05/25 20:27:47 INFO: [Worker 0] Loaded 2 episodes for house 3417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 20:27:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:28:03 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 20:28:03 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/25 20:28:03 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 20:28:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3417_ceiling.xml [task_sampler.py: 797] +05/25 20:28:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3417, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:28:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:28:06 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 20:28:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:28:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:28:06 INFO: [Worker 0] Sampled task 'Pick up the red white striped teacup with handle and place it in or on the light gray wooden bowl' [task_sampler.py: 1136] +05/25 20:28:06 INFO: [Worker 0] Worker 0 house 3417 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/25 20:28:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:33:42 INFO: [Worker 0] Worker 0 house 3417 episode 0 object objateacup_8f63a888a2c3473eabef51c650c82b45_1_0_8 completed with success=False [pipeline.py: 1114] +05/25 20:33:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:33:49 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 20:33:49 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/25 20:33:49 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_24 [json_eval_task_sampler.py: 648] +05/25 20:33:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3417_ceiling.xml [task_sampler.py: 797] +05/25 20:33:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3417, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:33:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:33:52 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/25 20:33:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:33:52 INFO: [Worker 0] Sampled task 'Pick up the white block with red coral and place it in or on the rustic gray stone bowl with seams' [task_sampler.py: 1136] +05/25 20:33:52 INFO: [Worker 0] Worker 0 house 3417 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/25 20:33:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:41:06 INFO: [Worker 0] Worker 0 house 3417 episode 1 object objafooditem_7d263bf310314339a199810ce968226e_2_0_8 completed with success=False [pipeline.py: 1114] +05/25 20:41:10 INFO: [Worker 0] Batching and saving trajectory data for house_3417: 2 episodes [pipeline.py: 233] +05/25 20:41:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:41:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:41:17 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3417 [save_utils.py: 703] +05/25 20:41:17 INFO: [Worker 0] Successfully saved trajectory data for house_3417 in 7.01s (batch: 6.73s, save: 0.28s) [pipeline.py: 280] +05/25 20:41:18 WARNING: [Worker 0] No trajectory data to save for house_3417 [pipeline.py: 229] +05/25 20:41:18 INFO: [Worker 0] Worker 0 completed house 3417: 0/2 successful episodes [pipeline.py: 1243] +05/25 20:41:18 INFO: [Worker 0] Worker 0 starting house 3450 (index 65/112) [pipeline.py: 473] +05/25 20:41:18 INFO: [Worker 0] Loaded 1 episodes for house 3450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 20:41:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 20:41:27 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/25 20:41:27 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/25 20:41:27 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/7754545bd7044b298506bb35b05578d5 [json_eval_task_sampler.py: 648] +05/25 20:41:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3450_ceiling.xml [task_sampler.py: 797] +05/25 20:41:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3450, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:41:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:41:30 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/25 20:41:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:41:30 INFO: [Worker 0] Sampled task 'Pick up the dark matte cup with vertical ridges and place it in or on the white bowl with liquid soup' [task_sampler.py: 1136] +05/25 20:41:30 INFO: [Worker 0] Worker 0 house 3450 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:41:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 20:44:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 20:48:58 INFO: [Worker 0] Worker 0 house 3450 episode 0 object cup_846a15223bb43478575a27d2329db25d_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 20:49:02 INFO: [Worker 0] Batching and saving trajectory data for house_3450: 1 episodes [pipeline.py: 233] +05/25 20:49:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 20:49:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 20:49:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3450 [save_utils.py: 703] +05/25 20:49:06 INFO: [Worker 0] Successfully saved trajectory data for house_3450 in 3.48s (batch: 3.33s, save: 0.15s) [pipeline.py: 280] +05/25 20:49:07 WARNING: [Worker 0] No trajectory data to save for house_3450 [pipeline.py: 229] +05/25 20:49:07 INFO: [Worker 0] Worker 0 completed house 3450: 0/1 successful episodes [pipeline.py: 1243] +05/25 20:49:07 INFO: [Worker 0] Worker 0 starting house 3501 (index 66/112) [pipeline.py: 473] +05/25 20:49:07 INFO: [Worker 0] Loaded 1 episodes for house 3501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 20:49:07 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] +05/25 20:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 20:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/72f752cce53e4942be8e27429ceaf83a [json_eval_task_sampler.py: 648] +05/25 20:49:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/25 20:49:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3501_ceiling.xml [task_sampler.py: 797] +05/25 20:49:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3501, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 20:49:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 20:49:11 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 20:49:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 20:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 20:49:11 INFO: [Worker 0] Sampled task 'Pick up the bullet cartridge and place it in or on the rustic terracotta bowl' [task_sampler.py: 1136] +05/25 20:49:11 INFO: [Worker 0] Worker 0 house 3501 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 20:49:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:00:45 INFO: [Worker 0] Worker 0 house 3501 episode 0 object objabulletcartridge_828758a9cb5043e09fc6cbc857ae0c91_1_0_2 completed with success=False [pipeline.py: 1114] +05/25 21:00:50 INFO: [Worker 0] Batching and saving trajectory data for house_3501: 1 episodes [pipeline.py: 233] +05/25 21:00:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:00:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:00:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3501 [save_utils.py: 703] +05/25 21:00:53 INFO: [Worker 0] Successfully saved trajectory data for house_3501 in 3.43s (batch: 3.30s, save: 0.12s) [pipeline.py: 280] +05/25 21:00:54 WARNING: [Worker 0] No trajectory data to save for house_3501 [pipeline.py: 229] +05/25 21:00:54 INFO: [Worker 0] Worker 0 completed house 3501: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:00:54 INFO: [Worker 0] Worker 0 starting house 3541 (index 67/112) [pipeline.py: 473] +05/25 21:00:54 INFO: [Worker 0] Loaded 1 episodes for house 3541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 21:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:01:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/25 21:01:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d792e36c80784b53b987c84e304481a9 [json_eval_task_sampler.py: 648] +05/25 21:01:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/b4351af051964283968b5fed441ee844 [json_eval_task_sampler.py: 648] +05/25 21:01:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3541_ceiling.xml [task_sampler.py: 797] +05/25 21:01:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3541, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:01:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:01:12 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/25 21:01:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:01:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:01:12 INFO: [Worker 0] Sampled task 'Pick up the blue plastic spray bottle with nozzle and place it in or on the round shallow rustic clay bowl' [task_sampler.py: 1136] +05/25 21:01:12 INFO: [Worker 0] Worker 0 house 3541 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:01:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:04:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:10:38 INFO: [Worker 0] Worker 0 house 3541 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 21:10:43 INFO: [Worker 0] Batching and saving trajectory data for house_3541: 1 episodes [pipeline.py: 233] +05/25 21:10:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:10:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:10:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3541 [save_utils.py: 703] +05/25 21:10:46 INFO: [Worker 0] Successfully saved trajectory data for house_3541 in 3.58s (batch: 3.43s, save: 0.15s) [pipeline.py: 280] +05/25 21:10:47 WARNING: [Worker 0] No trajectory data to save for house_3541 [pipeline.py: 229] +05/25 21:10:47 INFO: [Worker 0] Worker 0 completed house 3541: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:10:47 INFO: [Worker 0] Worker 0 starting house 3579 (index 68/112) [pipeline.py: 473] +05/25 21:10:47 INFO: [Worker 0] Loaded 1 episodes for house 3579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 21:10:47 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] +05/25 21:11:14 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/25 21:11:14 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/25 21:11:14 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 21:11:14 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/25 21:11:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3579_ceiling.xml [task_sampler.py: 797] +05/25 21:11:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3579, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:11:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:11:18 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/25 21:11:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:11:18 INFO: [Worker 0] Sampled task 'Pick up the white lint roller with black handle and place it in or on the red geometric patterned bowl with rim' [task_sampler.py: 1136] +05/25 21:11:18 INFO: [Worker 0] Worker 0 house 3579 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:11:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:11:19 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_4 in scene [object_manager.py: 1238] +05/25 21:11:19 WARNING: [Worker 0] Could not find object objaceilingtile_bf8ace08150545fb92f037f887658c37_1_0_5 in scene [object_manager.py: 1238] +05/25 21:11:19 WARNING: [Worker 0] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene [object_manager.py: 1238] +05/25 21:11:19 WARNING: [Worker 0] Could not find object vase_6036f2984fad087344d3e0313b088eaf_1_0_7 in scene [object_manager.py: 1238] +05/25 21:14:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:19:06 INFO: [Worker 0] Worker 0 house 3579 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 21:19:11 INFO: [Worker 0] Batching and saving trajectory data for house_3579: 1 episodes [pipeline.py: 233] +05/25 21:19:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:19:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:19:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3579 [save_utils.py: 703] +05/25 21:19:16 INFO: [Worker 0] Successfully saved trajectory data for house_3579 in 4.54s (batch: 4.27s, save: 0.27s) [pipeline.py: 280] +05/25 21:19:17 WARNING: [Worker 0] No trajectory data to save for house_3579 [pipeline.py: 229] +05/25 21:19:17 INFO: [Worker 0] Worker 0 completed house 3579: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:19:17 INFO: [Worker 0] Worker 0 starting house 3616 (index 69/112) [pipeline.py: 473] +05/25 21:19:17 INFO: [Worker 0] Loaded 1 episodes for house 3616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 21:19:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/25 21:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/25 21:19:19 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0cb14e8a04de4c39ac8714a98fba9883 [json_eval_task_sampler.py: 648] +05/25 21:19:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3616_ceiling.xml [task_sampler.py: 797] +05/25 21:19:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3616, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:19:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:19:24 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/25 21:19:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:19:24 INFO: [Worker 0] Sampled task 'Pick up the shiny gold candy wrapper with twists and place it in or on the rustic round ceramic bowl' [task_sampler.py: 1136] +05/25 21:19:24 INFO: [Worker 0] Worker 0 house 3616 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:19:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:19:25 WARNING: [Worker 0] Could not find object objareciprocatingsaw_a9ac412ef0e04d7aa73c4988aa6395cf_1_0_7 in scene [object_manager.py: 1238] +05/25 21:19:25 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_7 in scene [object_manager.py: 1238] +05/25 21:23:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:28:38 INFO: [Worker 0] Worker 0 house 3616 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_6 completed with success=False [pipeline.py: 1114] +05/25 21:28:43 INFO: [Worker 0] Batching and saving trajectory data for house_3616: 1 episodes [pipeline.py: 233] +05/25 21:28:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:28:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:28:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3616 [save_utils.py: 703] +05/25 21:28:46 INFO: [Worker 0] Successfully saved trajectory data for house_3616 in 3.22s (batch: 3.09s, save: 0.13s) [pipeline.py: 280] +05/25 21:28:47 WARNING: [Worker 0] No trajectory data to save for house_3616 [pipeline.py: 229] +05/25 21:28:47 INFO: [Worker 0] Worker 0 completed house 3616: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:28:47 INFO: [Worker 0] Worker 0 starting house 3669 (index 70/112) [pipeline.py: 473] +05/25 21:28:47 INFO: [Worker 0] Loaded 1 episodes for house 3669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 21:28:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/25 21:29:12 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/25 21:29:12 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/54c702aeeb634157ab6bfd6c2f7a78c2 [json_eval_task_sampler.py: 648] +05/25 21:29:12 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9e167f4b5fcd446e8ff3c4ca5b257286 [json_eval_task_sampler.py: 648] +05/25 21:29:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3669_ceiling.xml [task_sampler.py: 797] +05/25 21:29:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3669, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/25 21:29:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/25 21:29:17 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/25 21:29:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 5 cameras [camera_manager.py: 300] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_1' [camera_manager.py: 550] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_zed2_analogue_2' [camera_manager.py: 550] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up fixed exocentric camera 'randomized_gopro_analogue_1' [camera_manager.py: 550] +05/25 21:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 5 cameras [camera_manager.py: 326] +05/25 21:29:17 INFO: [Worker 0] Sampled task 'Pick up the headphones and place it in or on the rustic light wooden box' [task_sampler.py: 1136] +05/25 21:29:17 INFO: [Worker 0] Worker 0 house 3669 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/25 21:29:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/25 21:32:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/25 21:39:18 INFO: [Worker 0] Worker 0 house 3669 episode 0 object objaheadphones_71f421347c224f19b757f507be6a016a_1_0_7 completed with success=False [pipeline.py: 1114] +05/25 21:39:22 INFO: [Worker 0] Batching and saving trajectory data for house_3669: 1 episodes [pipeline.py: 233] +05/25 21:39:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/25 21:39:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/25 21:39:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260525_102533/house_3669 [save_utils.py: 703] +05/25 21:39:25 INFO: [Worker 0] Successfully saved trajectory data for house_3669 in 2.68s (batch: 2.57s, save: 0.11s) [pipeline.py: 280] +05/25 21:39:25 WARNING: [Worker 0] No trajectory data to save for house_3669 [pipeline.py: 229] +05/25 21:39:25 INFO: [Worker 0] Worker 0 completed house 3669: 0/1 successful episodes [pipeline.py: 1243] +05/25 21:39:25 INFO: [Worker 0] Worker 0 starting house 3725 (index 71/112) [pipeline.py: 473] +05/25 21:39:25 INFO: [Worker 0] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/25 21:39:25 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] +05/26 00:53:46 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] +05/26 00:54:22 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..3854917aaec6d0b3ef4cb0d8706f8cda81f841d8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/running_log.log @@ -0,0 +1,233 @@ +05/26 00:59:03 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 00:59:03 INFO: Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 00:59:03 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 00:59:03 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903'), + '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': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 00:59:03 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 00:59:03 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] +05/26 00:59:03 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 00:59:03 INFO: [Worker 0] Worker 0 starting house 3725 (index 0/41) [pipeline.py: 473] +05/26 00:59:03 INFO: [Worker 0] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 00:59:03 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] +05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7 [json_eval_task_sampler.py: 648] +05/26 01:02:36 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/26 01:02:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 01:02:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3725_ceiling.xml [task_sampler.py: 797] +05/26 01:02:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3725, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:02:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:02:40 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 01:02:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:02:40 INFO: [Worker 0] Sampled task 'Pick up the red glossy popsicle on wooden stick and place it in or on the light gray shallow round bowl' [task_sampler.py: 1136] +05/26 01:02:40 INFO: [Worker 0] Worker 0 house 3725 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:02:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:09:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:17:23 INFO: [Worker 0] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 01:17:28 INFO: [Worker 0] Batching and saving trajectory data for house_3725: 1 episodes [pipeline.py: 233] +05/26 01:17:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:17:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_005903/house_3725 [save_utils.py: 703] +05/26 01:17:32 INFO: [Worker 0] Successfully saved trajectory data for house_3725 in 3.93s (batch: 3.77s, save: 0.16s) [pipeline.py: 280] +05/26 01:17:33 WARNING: [Worker 0] No trajectory data to save for house_3725 [pipeline.py: 229] +05/26 01:17:33 INFO: [Worker 0] Worker 0 completed house 3725: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:17:33 INFO: [Worker 0] Worker 0 starting house 3774 (index 1/41) [pipeline.py: 473] +05/26 01:17:33 INFO: [Worker 0] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 01:17:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:17:43 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/26 01:17:43 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6 [json_eval_task_sampler.py: 648] +05/26 01:17:43 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/26 01:17:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3774_ceiling.xml [task_sampler.py: 797] +05/26 01:17:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:17:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:17:46 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/26 01:17:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:17:46 INFO: [Worker 0] Sampled task 'Pick up the chocolate nut bar and place it in or on the textured rustic bowl' [task_sampler.py: 1136] +05/26 01:17:46 INFO: [Worker 0] Worker 0 house 3774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:17:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:22:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:23:51 INFO: Received SIGTERM. Initiating graceful shutdown... [pipeline.py: 1260] +05/26 01:23:52 INFO: [Worker 0] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:23:56 INFO: [Worker 0] Worker 0 house 3774 shutdown requested, skipping save [pipeline.py: 1214] +05/26 01:23:56 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up... [pipeline.py: 460] +05/26 01:23:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/26 01:23:57 INFO: Completed 2 houses, skipped 0 houses [pipeline.py: 1496] +05/26 01:23:57 INFO: Success count: 0, Total count: 2 [pipeline.py: 1499] +05/26 01:23:57 INFO: Success rate: 0.00% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/running_log.log b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..ece1e761bae6dd943955e8b85e3bb6b7a2a0a33f --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/running_log.log @@ -0,0 +1,1420 @@ +05/26 01:04:39 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 01:04:39 INFO: Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 01:04:39 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 01:04:39 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + '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': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 01:04:39 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 01:04:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:39 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 01:04:39 INFO: [Worker 0] Worker 0 starting house 3725 (index 0/41) [pipeline.py: 473] +05/26 01:04:39 INFO: [Worker 0] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 01:04:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:04:44 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 01:04:44 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_7 [json_eval_task_sampler.py: 648] +05/26 01:04:44 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/37d330a69f964e4689d8f4b57faf89f5 [json_eval_task_sampler.py: 648] +05/26 01:04:44 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 01:05:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3725_ceiling.xml [task_sampler.py: 797] +05/26 01:05:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3725, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:05:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:05:17 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 01:05:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:05:17 INFO: [Worker 0] Sampled task 'Pick up the red glossy popsicle on wooden stick and place it in or on the light gray shallow round bowl' [task_sampler.py: 1136] +05/26 01:05:17 INFO: [Worker 0] Worker 0 house 3725 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:05:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:09:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:17:43 INFO: [Worker 0] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 01:17:47 INFO: [Worker 0] Batching and saving trajectory data for house_3725: 1 episodes [pipeline.py: 233] +05/26 01:17:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:17:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:17:51 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 [save_utils.py: 703] +05/26 01:17:51 INFO: [Worker 0] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) [pipeline.py: 280] +05/26 01:17:52 WARNING: [Worker 0] No trajectory data to save for house_3725 [pipeline.py: 229] +05/26 01:17:52 INFO: [Worker 0] Worker 0 completed house 3725: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:17:52 INFO: [Worker 0] Worker 0 starting house 3774 (index 1/41) [pipeline.py: 473] +05/26 01:17:52 INFO: [Worker 0] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 01:17:52 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] +05/26 01:17:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4c75946736424e5397f4eadd336e0bf1 [json_eval_task_sampler.py: 648] +05/26 01:17:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2df58d08f5604c058d43e00677d325b6 [json_eval_task_sampler.py: 648] +05/26 01:17:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/592fc966e1de425cb6ad1982dfe6dda1 [json_eval_task_sampler.py: 648] +05/26 01:17:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3774_ceiling.xml [task_sampler.py: 797] +05/26 01:17:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:17:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:17:55 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/26 01:17:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:17:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:17:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:17:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:17:55 INFO: [Worker 0] Sampled task 'Pick up the chocolate nut bar and place it in or on the textured rustic bowl' [task_sampler.py: 1136] +05/26 01:17:55 INFO: [Worker 0] Worker 0 house 3774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:17:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:22:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 01:25:01 INFO: [Worker 0] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 01:25:04 INFO: [Worker 0] Batching and saving trajectory data for house_3774: 1 episodes [pipeline.py: 233] +05/26 01:25:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:25:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:25:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 [save_utils.py: 703] +05/26 01:25:06 INFO: [Worker 0] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/26 01:25:06 WARNING: [Worker 0] No trajectory data to save for house_3774 [pipeline.py: 229] +05/26 01:25:06 INFO: [Worker 0] Worker 0 completed house 3774: 0/1 successful episodes [pipeline.py: 1243] +05/26 01:25:06 INFO: [Worker 0] Worker 0 starting house 3775 (index 2/41) [pipeline.py: 473] +05/26 01:25:06 INFO: [Worker 0] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 01:25:06 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] +05/26 01:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/26 01:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/26 01:33:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/26 01:33:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3775_ceiling.xml [task_sampler.py: 797] +05/26 01:33:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3775, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:33:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:33:27 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 01:33:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:33:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:33:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:33:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:33:27 INFO: [Worker 0] Sampled task 'Pick up the black payment terminal and place it in or on the bowl' [task_sampler.py: 1136] +05/26 01:33:27 INFO: [Worker 0] Worker 0 house 3775 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 01:33:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:39:34 INFO: [Worker 0] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 01:39:38 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] +05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/26 01:41:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/26 01:41:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3775_ceiling.xml [task_sampler.py: 797] +05/26 01:41:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3775, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:41:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:41:26 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 01:41:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:41:26 INFO: [Worker 0] Sampled task 'Pick up the ornate bronze medallion with design and place it in or on the rectangular plastic organizing tray' [task_sampler.py: 1136] +05/26 01:41:26 INFO: [Worker 0] Worker 0 house 3775 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 01:41:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:46:25 INFO: [Worker 0] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 01:46:28 INFO: [Worker 0] Batching and saving trajectory data for house_3775: 2 episodes [pipeline.py: 233] +05/26 01:46:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:46:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 01:46:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:46:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 01:46:33 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 [save_utils.py: 703] +05/26 01:46:33 INFO: [Worker 0] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) [pipeline.py: 280] +05/26 01:46:33 WARNING: [Worker 0] No trajectory data to save for house_3775 [pipeline.py: 229] +05/26 01:46:33 INFO: [Worker 0] Worker 0 completed house 3775: 0/2 successful episodes [pipeline.py: 1243] +05/26 01:46:33 INFO: [Worker 0] Worker 0 starting house 3840 (index 3/41) [pipeline.py: 473] +05/26 01:46:33 INFO: [Worker 0] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 01:46:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 01:55:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/1e4b75a1bb484c42b99fcd3ddf23ae9f [json_eval_task_sampler.py: 648] +05/26 01:55:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/4bf7b7b26a704818b1ed3d703a11855b [json_eval_task_sampler.py: 648] +05/26 01:55:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/26 01:55:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3840_ceiling.xml [task_sampler.py: 797] +05/26 01:55:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3840, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 01:55:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 01:55:32 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/26 01:55:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 01:55:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 01:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 01:55:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 01:55:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 01:55:32 INFO: [Worker 0] Sampled task 'Pick up the white athletic shoe with patterns and place it in or on the brown medical case' [task_sampler.py: 1136] +05/26 01:55:32 INFO: [Worker 0] Worker 0 house 3840 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 01:55:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 01:55:32 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene [object_manager.py: 1238] +05/26 01:57:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:00:10 INFO: [Worker 0] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 02:00:14 INFO: [Worker 0] Batching and saving trajectory data for house_3840: 1 episodes [pipeline.py: 233] +05/26 02:00:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:00:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:00:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 [save_utils.py: 703] +05/26 02:00:17 INFO: [Worker 0] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) [pipeline.py: 280] +05/26 02:00:18 WARNING: [Worker 0] No trajectory data to save for house_3840 [pipeline.py: 229] +05/26 02:00:18 INFO: [Worker 0] Worker 0 completed house 3840: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:00:18 INFO: [Worker 0] Worker 0 starting house 3891 (index 4/41) [pipeline.py: 473] +05/26 02:00:18 INFO: [Worker 0] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:00:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:00:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/e2a8c3df68a94aea94050e01ad9aa918 [json_eval_task_sampler.py: 648] +05/26 02:00:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/dc75becfc0104a358ad1354b65d19475 [json_eval_task_sampler.py: 648] +05/26 02:00:21 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5b29a29005041dca3d8bfbc8c57c7e2 [json_eval_task_sampler.py: 648] +05/26 02:00:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3891_ceiling.xml [task_sampler.py: 797] +05/26 02:00:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3891, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:00:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:00:28 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 02:00:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:00:28 INFO: [Worker 0] Sampled task 'Pick up the green packet and place it in or on the round stone bowl with rim' [task_sampler.py: 1136] +05/26 02:00:28 INFO: [Worker 0] Worker 0 house 3891 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:00:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:00:29 WARNING: [Worker 0] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene [object_manager.py: 1238] +05/26 02:00:29 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/26 02:00:29 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/26 02:04:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:09:45 INFO: [Worker 0] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:09:49 INFO: [Worker 0] Batching and saving trajectory data for house_3891: 1 episodes [pipeline.py: 233] +05/26 02:09:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:09:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:09:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 [save_utils.py: 703] +05/26 02:09:53 INFO: [Worker 0] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) [pipeline.py: 280] +05/26 02:09:54 WARNING: [Worker 0] No trajectory data to save for house_3891 [pipeline.py: 229] +05/26 02:09:54 INFO: [Worker 0] Worker 0 completed house 3891: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:09:54 INFO: [Worker 0] Worker 0 starting house 3944 (index 5/41) [pipeline.py: 473] +05/26 02:09:54 INFO: [Worker 0] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:09:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/26 02:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_4 [json_eval_task_sampler.py: 648] +05/26 02:09:58 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_17 [json_eval_task_sampler.py: 648] +05/26 02:10:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3944_ceiling.xml [task_sampler.py: 797] +05/26 02:10:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3944, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:10:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:10:07 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/26 02:10:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:10:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:10:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:10:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:10:07 INFO: [Worker 0] Sampled task 'Pick up the green cylindrical smoke grenade with lever and place it in or on the round wooden bowl' [task_sampler.py: 1136] +05/26 02:10:07 INFO: [Worker 0] Worker 0 house 3944 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:10:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:10:08 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 02:13:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:22:07 INFO: [Worker 0] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 02:22:11 INFO: [Worker 0] Batching and saving trajectory data for house_3944: 1 episodes [pipeline.py: 233] +05/26 02:22:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:22:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:22:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 [save_utils.py: 703] +05/26 02:22:15 INFO: [Worker 0] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) [pipeline.py: 280] +05/26 02:22:15 WARNING: [Worker 0] No trajectory data to save for house_3944 [pipeline.py: 229] +05/26 02:22:15 INFO: [Worker 0] Worker 0 completed house 3944: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:22:15 INFO: [Worker 0] Worker 0 starting house 3972 (index 6/41) [pipeline.py: 473] +05/26 02:22:15 INFO: [Worker 0] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:22:15 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] +05/26 02:22:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/b60e63f150034acbabd32dc9ef8563de [json_eval_task_sampler.py: 648] +05/26 02:22:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/e12c29eb1cee488498343a20c503ed21 [json_eval_task_sampler.py: 648] +05/26 02:22:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fb56f8968a9c443897498a9ccf5c46d1 [json_eval_task_sampler.py: 648] +05/26 02:22:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3972_ceiling.xml [task_sampler.py: 797] +05/26 02:22:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3972, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:22:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:22:25 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/26 02:22:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:22:25 INFO: [Worker 0] Sampled task 'Pick up the green electronic rectangular display module and place it in or on the round dark bowl' [task_sampler.py: 1136] +05/26 02:22:25 INFO: [Worker 0] Worker 0 house 3972 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:22:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:22:26 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene [object_manager.py: 1238] +05/26 02:31:05 INFO: [Worker 0] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:31:08 INFO: [Worker 0] Batching and saving trajectory data for house_3972: 1 episodes [pipeline.py: 233] +05/26 02:31:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:31:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:31:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 [save_utils.py: 703] +05/26 02:31:12 INFO: [Worker 0] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) [pipeline.py: 280] +05/26 02:31:12 WARNING: [Worker 0] No trajectory data to save for house_3972 [pipeline.py: 229] +05/26 02:31:12 INFO: [Worker 0] Worker 0 completed house 3972: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:31:12 INFO: [Worker 0] Worker 0 starting house 4013 (index 7/41) [pipeline.py: 473] +05/26 02:31:12 INFO: [Worker 0] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:31:12 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] +05/26 02:31:25 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/65e992e1326c4615bdada49b02005e16 [json_eval_task_sampler.py: 648] +05/26 02:31:25 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c44ac768e7304df58ebf13ba4c6eed11 [json_eval_task_sampler.py: 648] +05/26 02:31:25 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/26 02:31:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4013_ceiling.xml [task_sampler.py: 797] +05/26 02:31:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4013, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:31:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:31:30 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/26 02:31:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:31:30 INFO: [Worker 0] Sampled task 'Pick up the red circular stone component and place it in or on the rustic gray stone bowl' [task_sampler.py: 1136] +05/26 02:31:30 INFO: [Worker 0] Worker 0 house 4013 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:31:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:31:31 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene [object_manager.py: 1238] +05/26 02:31:31 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/26 02:31:31 WARNING: [Worker 0] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene [object_manager.py: 1238] +05/26 02:39:05 INFO: [Worker 0] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 02:39:08 INFO: [Worker 0] Batching and saving trajectory data for house_4013: 1 episodes [pipeline.py: 233] +05/26 02:39:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:39:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:39:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 [save_utils.py: 703] +05/26 02:39:12 INFO: [Worker 0] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) [pipeline.py: 280] +05/26 02:39:13 WARNING: [Worker 0] No trajectory data to save for house_4013 [pipeline.py: 229] +05/26 02:39:13 INFO: [Worker 0] Worker 0 completed house 4013: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:39:13 INFO: [Worker 0] Worker 0 starting house 4061 (index 8/41) [pipeline.py: 473] +05/26 02:39:13 INFO: [Worker 0] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:39:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5cb193f76ec4158b6e2fc655fa4ba92 [json_eval_task_sampler.py: 648] +05/26 02:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/03f1185ff6d4428fa81f6fc9db589338 [json_eval_task_sampler.py: 648] +05/26 02:39:13 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/74f5c16ba1f5406ba30bda961f0c0bd1 [json_eval_task_sampler.py: 648] +05/26 02:39:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4061_ceiling.xml [task_sampler.py: 797] +05/26 02:39:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4061, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:39:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:39:16 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/26 02:39:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:39:16 INFO: [Worker 0] Sampled task 'Pick up the blue curved blades and place it in or on the round wooden bowl with grain' [task_sampler.py: 1136] +05/26 02:39:16 INFO: [Worker 0] Worker 0 house 4061 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:39:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:43:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:47:04 INFO: [Worker 0] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 02:47:10 INFO: [Worker 0] Batching and saving trajectory data for house_4061: 1 episodes [pipeline.py: 233] +05/26 02:47:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:47:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:47:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 [save_utils.py: 703] +05/26 02:47:14 INFO: [Worker 0] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) [pipeline.py: 280] +05/26 02:47:15 WARNING: [Worker 0] No trajectory data to save for house_4061 [pipeline.py: 229] +05/26 02:47:15 INFO: [Worker 0] Worker 0 completed house 4061: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:47:15 INFO: [Worker 0] Worker 0 starting house 4132 (index 9/41) [pipeline.py: 473] +05/26 02:47:15 INFO: [Worker 0] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:47:15 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] +05/26 02:47:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/660bfdd0e9144271acdc116632297395 [json_eval_task_sampler.py: 648] +05/26 02:47:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/26 02:47:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/372c4540cbe148b9bddcbbf1761b5e81 [json_eval_task_sampler.py: 648] +05/26 02:47:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4132_ceiling.xml [task_sampler.py: 797] +05/26 02:47:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4132, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:47:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:47:24 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/26 02:47:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:47:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:47:24 INFO: [Worker 0] Sampled task 'Pick up the oval ceramic dish with animal and place it in or on the smooth wooden bowl with natural grain' [task_sampler.py: 1136] +05/26 02:47:24 INFO: [Worker 0] Worker 0 house 4132 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:47:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:50:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 02:54:54 INFO: [Worker 0] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 02:54:59 INFO: [Worker 0] Batching and saving trajectory data for house_4132: 1 episodes [pipeline.py: 233] +05/26 02:54:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 02:55:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 02:55:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 [save_utils.py: 703] +05/26 02:55:03 INFO: [Worker 0] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) [pipeline.py: 280] +05/26 02:55:04 WARNING: [Worker 0] No trajectory data to save for house_4132 [pipeline.py: 229] +05/26 02:55:04 INFO: [Worker 0] Worker 0 completed house 4132: 0/1 successful episodes [pipeline.py: 1243] +05/26 02:55:04 INFO: [Worker 0] Worker 0 starting house 4190 (index 10/41) [pipeline.py: 473] +05/26 02:55:04 INFO: [Worker 0] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 02:55:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 02:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/4b5c2f816e814756960ac3be616fd29d [json_eval_task_sampler.py: 648] +05/26 02:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_12 [json_eval_task_sampler.py: 648] +05/26 02:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/fe6a6e9cf17545179f8c6b81e5499b46 [json_eval_task_sampler.py: 648] +05/26 02:55:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4190_ceiling.xml [task_sampler.py: 797] +05/26 02:55:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4190, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 02:55:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 02:55:14 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/26 02:55:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 02:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 02:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 02:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 02:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 02:55:14 INFO: [Worker 0] Sampled task 'Pick up the geometric blue butterfly and place it in or on the black matte cooking pot with handles' [task_sampler.py: 1136] +05/26 02:55:14 INFO: [Worker 0] Worker 0 house 4190 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 02:55:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 02:59:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:07:32 INFO: [Worker 0] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 03:07:37 INFO: [Worker 0] Batching and saving trajectory data for house_4190: 1 episodes [pipeline.py: 233] +05/26 03:07:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:07:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:07:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 [save_utils.py: 703] +05/26 03:07:41 INFO: [Worker 0] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) [pipeline.py: 280] +05/26 03:07:42 WARNING: [Worker 0] No trajectory data to save for house_4190 [pipeline.py: 229] +05/26 03:07:42 INFO: [Worker 0] Worker 0 completed house 4190: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:07:42 INFO: [Worker 0] Worker 0 starting house 4223 (index 11/41) [pipeline.py: 473] +05/26 03:07:42 INFO: [Worker 0] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:07:42 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] +05/26 03:07:45 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 03:07:45 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/26 03:07:45 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/26 03:07:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4223_ceiling.xml [task_sampler.py: 797] +05/26 03:07:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4223, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:07:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:07:49 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 03:07:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:07:49 INFO: [Worker 0] Sampled task 'Pick up the twist bit and place it in or on the bright insect design bowl' [task_sampler.py: 1136] +05/26 03:07:49 INFO: [Worker 0] Worker 0 house 4223 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 03:07:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:07:50 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene [object_manager.py: 1238] +05/26 03:16:00 INFO: [Worker 0] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:16:03 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] +05/26 03:16:04 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 03:16:04 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_14 [json_eval_task_sampler.py: 648] +05/26 03:16:04 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/26 03:16:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4223_ceiling.xml [task_sampler.py: 797] +05/26 03:16:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4223, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:16:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:16:07 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 03:16:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:16:07 INFO: [Worker 0] Sampled task 'Pick up the sleek white dual electrical socket and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 03:16:07 INFO: [Worker 0] Worker 0 house 4223 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 03:16:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:16:07 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene [object_manager.py: 1238] +05/26 03:19:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:23:04 INFO: [Worker 0] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:23:07 INFO: [Worker 0] Batching and saving trajectory data for house_4223: 2 episodes [pipeline.py: 233] +05/26 03:23:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:23:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:23:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:23:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:23:12 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 [save_utils.py: 703] +05/26 03:23:12 INFO: [Worker 0] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) [pipeline.py: 280] +05/26 03:23:12 WARNING: [Worker 0] No trajectory data to save for house_4223 [pipeline.py: 229] +05/26 03:23:12 INFO: [Worker 0] Worker 0 completed house 4223: 0/2 successful episodes [pipeline.py: 1243] +05/26 03:23:12 INFO: [Worker 0] Worker 0 starting house 4260 (index 12/41) [pipeline.py: 473] +05/26 03:23:12 INFO: [Worker 0] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:23:12 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] +05/26 03:23:21 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/08dd440442874c8e8ae35494b4aff0a2 [json_eval_task_sampler.py: 648] +05/26 03:23:21 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_22 [json_eval_task_sampler.py: 648] +05/26 03:23:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/26 03:23:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4260_ceiling.xml [task_sampler.py: 797] +05/26 03:23:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4260, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:23:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:23:27 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 03:23:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:23:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:23:27 INFO: [Worker 0] Sampled task 'Pick up the vintage minerva stopwatch beige and place it in or on the shallow wooden bowl' [task_sampler.py: 1136] +05/26 03:23:27 INFO: [Worker 0] Worker 0 house 4260 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:23:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:23:27 WARNING: [Worker 0] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene [object_manager.py: 1238] +05/26 03:23:27 WARNING: [Worker 0] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene [object_manager.py: 1238] +05/26 03:25:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:30:20 INFO: [Worker 0] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 03:30:25 INFO: [Worker 0] Batching and saving trajectory data for house_4260: 1 episodes [pipeline.py: 233] +05/26 03:30:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:30:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:30:29 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 [save_utils.py: 703] +05/26 03:30:29 INFO: [Worker 0] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) [pipeline.py: 280] +05/26 03:30:29 WARNING: [Worker 0] No trajectory data to save for house_4260 [pipeline.py: 229] +05/26 03:30:29 INFO: [Worker 0] Worker 0 completed house 4260: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:30:29 INFO: [Worker 0] Worker 0 starting house 4341 (index 13/41) [pipeline.py: 473] +05/26 03:30:29 INFO: [Worker 0] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:30:29 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] +05/26 03:30:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 03:30:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_4 [json_eval_task_sampler.py: 648] +05/26 03:30:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/9605b2b278774b5bb4e486695e6d920a [json_eval_task_sampler.py: 648] +05/26 03:30:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4341_ceiling.xml [task_sampler.py: 797] +05/26 03:30:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4341, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:30:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:30:38 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/26 03:30:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:30:38 INFO: [Worker 0] Sampled task 'Pick up the red glossy popsicle on stick and place it in or on the round wooden bowl' [task_sampler.py: 1136] +05/26 03:30:38 INFO: [Worker 0] Worker 0 house 4341 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:30:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:34:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:38:31 INFO: [Worker 0] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 03:38:37 INFO: [Worker 0] Batching and saving trajectory data for house_4341: 1 episodes [pipeline.py: 233] +05/26 03:38:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:38:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:38:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 [save_utils.py: 703] +05/26 03:38:42 INFO: [Worker 0] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) [pipeline.py: 280] +05/26 03:38:43 WARNING: [Worker 0] No trajectory data to save for house_4341 [pipeline.py: 229] +05/26 03:38:43 INFO: [Worker 0] Worker 0 completed house 4341: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:38:43 INFO: [Worker 0] Worker 0 starting house 4372 (index 14/41) [pipeline.py: 473] +05/26 03:38:43 INFO: [Worker 0] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:38:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:38:46 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/26 03:38:46 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/5efb7a6940894b5a835b4de2f3cf1559 [json_eval_task_sampler.py: 648] +05/26 03:38:46 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_4 [json_eval_task_sampler.py: 648] +05/26 03:38:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4372_ceiling.xml [task_sampler.py: 797] +05/26 03:38:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4372, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:38:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:38:51 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 03:38:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:38:51 INFO: [Worker 0] Sampled task 'Pick up the smooth medium red apple with stem and place it in or on the green bowl' [task_sampler.py: 1136] +05/26 03:38:51 INFO: [Worker 0] Worker 0 house 4372 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:38:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:38:52 WARNING: [Worker 0] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene [object_manager.py: 1238] +05/26 03:38:52 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 03:41:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:44:56 INFO: [Worker 0] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 03:44:59 INFO: [Worker 0] Batching and saving trajectory data for house_4372: 1 episodes [pipeline.py: 233] +05/26 03:44:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:45:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:45:02 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 [save_utils.py: 703] +05/26 03:45:02 INFO: [Worker 0] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) [pipeline.py: 280] +05/26 03:45:03 WARNING: [Worker 0] No trajectory data to save for house_4372 [pipeline.py: 229] +05/26 03:45:03 INFO: [Worker 0] Worker 0 completed house 4372: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:45:03 INFO: [Worker 0] Worker 0 starting house 4406 (index 15/41) [pipeline.py: 473] +05/26 03:45:03 INFO: [Worker 0] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:45:03 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] +05/26 03:45:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_11 [json_eval_task_sampler.py: 648] +05/26 03:45:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/472cceee5a224ff6933e7baf31d16641 [json_eval_task_sampler.py: 648] +05/26 03:45:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/c14e37cc7b7448bb9ed3bc33106a52b6 [json_eval_task_sampler.py: 648] +05/26 03:45:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4406_ceiling.xml [task_sampler.py: 797] +05/26 03:45:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4406, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:45:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:45:16 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 03:45:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:45:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:45:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:45:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:45:16 INFO: [Worker 0] Sampled task 'Pick up the blue pcb with black chip and connector and place it in or on the beige bowl' [task_sampler.py: 1136] +05/26 03:45:16 INFO: [Worker 0] Worker 0 house 4406 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:45:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:47:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:53:32 INFO: [Worker 0] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 03:53:37 INFO: [Worker 0] Batching and saving trajectory data for house_4406: 1 episodes [pipeline.py: 233] +05/26 03:53:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 03:53:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 03:53:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 [save_utils.py: 703] +05/26 03:53:40 INFO: [Worker 0] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) [pipeline.py: 280] +05/26 03:53:41 WARNING: [Worker 0] No trajectory data to save for house_4406 [pipeline.py: 229] +05/26 03:53:41 INFO: [Worker 0] Worker 0 completed house 4406: 0/1 successful episodes [pipeline.py: 1243] +05/26 03:53:41 INFO: [Worker 0] Worker 0 starting house 4465 (index 16/41) [pipeline.py: 473] +05/26 03:53:41 INFO: [Worker 0] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 03:53:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 03:53:47 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/372c4540cbe148b9bddcbbf1761b5e81 [json_eval_task_sampler.py: 648] +05/26 03:53:47 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/2911e8c87d49402c9e3c18277c8b2b2a [json_eval_task_sampler.py: 648] +05/26 03:53:47 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_1 [json_eval_task_sampler.py: 648] +05/26 03:53:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4465_ceiling.xml [task_sampler.py: 797] +05/26 03:53:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4465, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 03:53:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 03:53:51 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 03:53:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 03:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 03:53:51 INFO: [Worker 0] Sampled task 'Pick up the white rectangular box with blue text and place it in or on the rustic brown coconut bowl' [task_sampler.py: 1136] +05/26 03:53:51 INFO: [Worker 0] Worker 0 house 4465 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 03:53:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 03:53:51 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene [object_manager.py: 1238] +05/26 03:53:51 WARNING: [Worker 0] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene [object_manager.py: 1238] +05/26 03:53:51 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene [object_manager.py: 1238] +05/26 03:56:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 03:59:58 INFO: [Worker 0] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 04:00:02 INFO: [Worker 0] Batching and saving trajectory data for house_4465: 1 episodes [pipeline.py: 233] +05/26 04:00:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:00:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:00:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 [save_utils.py: 703] +05/26 04:00:05 INFO: [Worker 0] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) [pipeline.py: 280] +05/26 04:00:06 WARNING: [Worker 0] No trajectory data to save for house_4465 [pipeline.py: 229] +05/26 04:00:06 INFO: [Worker 0] Worker 0 completed house 4465: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:00:06 INFO: [Worker 0] Worker 0 starting house 4532 (index 17/41) [pipeline.py: 473] +05/26 04:00:06 INFO: [Worker 0] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:00:06 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] +05/26 04:00:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/26 04:00:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/93ef7da87b1e43fbb47f3b26b927f777 [json_eval_task_sampler.py: 648] +05/26 04:00:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/ac3628478f6c4042a16e77d6753fa413 [json_eval_task_sampler.py: 648] +05/26 04:00:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4532_ceiling.xml [task_sampler.py: 797] +05/26 04:00:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4532, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:00:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:00:10 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/26 04:00:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:00:10 INFO: [Worker 0] Sampled task 'Pick up the triangular off-white artifact and place it in or on the blue pot' [task_sampler.py: 1136] +05/26 04:00:10 INFO: [Worker 0] Worker 0 house 4532 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:00:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:03:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:06:44 INFO: [Worker 0] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:06:47 INFO: [Worker 0] Batching and saving trajectory data for house_4532: 1 episodes [pipeline.py: 233] +05/26 04:06:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:06:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:06:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 [save_utils.py: 703] +05/26 04:06:50 INFO: [Worker 0] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/26 04:06:50 WARNING: [Worker 0] No trajectory data to save for house_4532 [pipeline.py: 229] +05/26 04:06:50 INFO: [Worker 0] Worker 0 completed house 4532: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:06:50 INFO: [Worker 0] Worker 0 starting house 4580 (index 18/41) [pipeline.py: 473] +05/26 04:06:50 INFO: [Worker 0] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:06:50 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] +05/26 04:06:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/591a76b35b094562b9dec8ffa5b77387 [json_eval_task_sampler.py: 648] +05/26 04:06:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f5266888bc749ea916c69d88b375cbf [json_eval_task_sampler.py: 648] +05/26 04:06:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d318587cfc624b18b52a3a7fb7124373 [json_eval_task_sampler.py: 648] +05/26 04:06:52 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 04:06:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4580_ceiling.xml [task_sampler.py: 797] +05/26 04:06:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4580, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:06:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:06:56 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/26 04:06:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:06:56 INFO: [Worker 0] Sampled task 'Pick up the red wall-mounted fire connection with caps and place it in or on the woodeowl' [task_sampler.py: 1136] +05/26 04:06:56 INFO: [Worker 0] Worker 0 house 4580 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:06:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:06:56 WARNING: [Worker 0] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene [object_manager.py: 1238] +05/26 04:06:56 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene [object_manager.py: 1238] +05/26 04:06:56 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/26 04:06:56 WARNING: [Worker 0] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene [object_manager.py: 1238] +05/26 04:06:56 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene [object_manager.py: 1238] +05/26 04:08:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:17:57 INFO: [Worker 0] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 04:18:02 INFO: [Worker 0] Batching and saving trajectory data for house_4580: 1 episodes [pipeline.py: 233] +05/26 04:18:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:18:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:18:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 [save_utils.py: 703] +05/26 04:18:05 INFO: [Worker 0] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) [pipeline.py: 280] +05/26 04:18:06 WARNING: [Worker 0] No trajectory data to save for house_4580 [pipeline.py: 229] +05/26 04:18:06 INFO: [Worker 0] Worker 0 completed house 4580: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:18:06 INFO: [Worker 0] Worker 0 starting house 4613 (index 19/41) [pipeline.py: 473] +05/26 04:18:06 INFO: [Worker 0] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:18:06 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] +05/26 04:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/26 04:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/26 04:18:18 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/26 04:18:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4613_ceiling.xml [task_sampler.py: 797] +05/26 04:18:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:18:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:18:24 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/26 04:18:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:18:24 INFO: [Worker 0] Sampled task 'Pick up the black spiked collar and place it in or on the shallow ceramic bowl with foot' [task_sampler.py: 1136] +05/26 04:18:24 INFO: [Worker 0] Worker 0 house 4613 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 04:18:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:25:20 INFO: [Worker 0] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 04:25:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:25:26 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/af838119a5a14e6ea3cc7e6cb53e2bd8 [json_eval_task_sampler.py: 648] +05/26 04:25:26 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/423c9b6a27254a00aa283647a7e9b1ba [json_eval_task_sampler.py: 648] +05/26 04:25:26 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/26 04:25:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4613_ceiling.xml [task_sampler.py: 797] +05/26 04:25:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:25:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:25:32 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/26 04:25:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:25:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:25:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:25:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:25:32 INFO: [Worker 0] Sampled task 'Pick up the white marker with red bands and place it in or on the shallow round wooden bowl with texture' [task_sampler.py: 1136] +05/26 04:25:32 INFO: [Worker 0] Worker 0 house 4613 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 04:25:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:28:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:32:15 INFO: [Worker 0] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 04:32:19 INFO: [Worker 0] Batching and saving trajectory data for house_4613: 2 episodes [pipeline.py: 233] +05/26 04:32:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:32:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:32:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:32:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:32:26 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 [save_utils.py: 703] +05/26 04:32:26 INFO: [Worker 0] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) [pipeline.py: 280] +05/26 04:32:27 WARNING: [Worker 0] No trajectory data to save for house_4613 [pipeline.py: 229] +05/26 04:32:27 INFO: [Worker 0] Worker 0 completed house 4613: 0/2 successful episodes [pipeline.py: 1243] +05/26 04:32:27 INFO: [Worker 0] Worker 0 starting house 4640 (index 20/41) [pipeline.py: 473] +05/26 04:32:27 INFO: [Worker 0] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:32:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:32:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/f42af504c27649c78412bafd25665e46 [json_eval_task_sampler.py: 648] +05/26 04:32:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_18 [json_eval_task_sampler.py: 648] +05/26 04:32:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/4bf7b7b26a704818b1ed3d703a11855b [json_eval_task_sampler.py: 648] +05/26 04:32:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4640_ceiling.xml [task_sampler.py: 797] +05/26 04:32:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4640, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:32:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:32:30 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/26 04:32:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:32:30 INFO: [Worker 0] Sampled task 'Pick up the black grenade with graffiti and place it in or on the brown medical case' [task_sampler.py: 1136] +05/26 04:32:30 INFO: [Worker 0] Worker 0 house 4640 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:32:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:34:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:36:38 INFO: [Worker 0] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:36:41 INFO: [Worker 0] Batching and saving trajectory data for house_4640: 1 episodes [pipeline.py: 233] +05/26 04:36:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:36:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:36:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 [save_utils.py: 703] +05/26 04:36:45 INFO: [Worker 0] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) [pipeline.py: 280] +05/26 04:36:45 WARNING: [Worker 0] No trajectory data to save for house_4640 [pipeline.py: 229] +05/26 04:36:45 INFO: [Worker 0] Worker 0 completed house 4640: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:36:45 INFO: [Worker 0] Worker 0 starting house 4692 (index 21/41) [pipeline.py: 473] +05/26 04:36:45 INFO: [Worker 0] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:36:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:36:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cbb67bbbe42e42189931574ce0d4926d [json_eval_task_sampler.py: 648] +05/26 04:36:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_28 [json_eval_task_sampler.py: 648] +05/26 04:36:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/675213cdb6eb4b8ab4ca565f2e7f4fc4 [json_eval_task_sampler.py: 648] +05/26 04:36:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4692_ceiling.xml [task_sampler.py: 797] +05/26 04:36:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4692, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:36:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:36:52 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/26 04:36:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:36:52 INFO: [Worker 0] Sampled task 'Pick up the conical soap bottle with pump and place it in or on the white bowl with textured facets' [task_sampler.py: 1136] +05/26 04:36:52 INFO: [Worker 0] Worker 0 house 4692 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:36:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:38:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 04:40:19 INFO: [Worker 0] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:40:23 INFO: [Worker 0] Batching and saving trajectory data for house_4692: 1 episodes [pipeline.py: 233] +05/26 04:40:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:40:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:40:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 [save_utils.py: 703] +05/26 04:40:25 INFO: [Worker 0] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/26 04:40:26 WARNING: [Worker 0] No trajectory data to save for house_4692 [pipeline.py: 229] +05/26 04:40:26 INFO: [Worker 0] Worker 0 completed house 4692: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:40:26 INFO: [Worker 0] Worker 0 starting house 4728 (index 22/41) [pipeline.py: 473] +05/26 04:40:26 INFO: [Worker 0] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:40:26 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] +05/26 04:40:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/26 04:40:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/ede795f1c6f74a99b6952183f340fcb8 [json_eval_task_sampler.py: 648] +05/26 04:40:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_23 [json_eval_task_sampler.py: 648] +05/26 04:40:38 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 04:40:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4728_ceiling.xml [task_sampler.py: 797] +05/26 04:40:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4728, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:40:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:40:45 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/26 04:40:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:40:45 INFO: [Worker 0] Sampled task 'Pick up the vintageiron and place it in or on the round terracotta dish with handle' [task_sampler.py: 1136] +05/26 04:40:45 INFO: [Worker 0] Worker 0 house 4728 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:40:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:40:46 WARNING: [Worker 0] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene [object_manager.py: 1238] +05/26 04:40:46 WARNING: [Worker 0] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene [object_manager.py: 1238] +05/26 04:40:46 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 04:49:41 INFO: [Worker 0] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:49:44 INFO: [Worker 0] Batching and saving trajectory data for house_4728: 1 episodes [pipeline.py: 233] +05/26 04:49:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:49:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:49:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 [save_utils.py: 703] +05/26 04:49:47 INFO: [Worker 0] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) [pipeline.py: 280] +05/26 04:49:48 WARNING: [Worker 0] No trajectory data to save for house_4728 [pipeline.py: 229] +05/26 04:49:48 INFO: [Worker 0] Worker 0 completed house 4728: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:49:48 INFO: [Worker 0] Worker 0 starting house 4764 (index 23/41) [pipeline.py: 473] +05/26 04:49:48 INFO: [Worker 0] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:49:48 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] +05/26 04:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/ac2b50d2542c4f458b4ea404b8ed5e4b [json_eval_task_sampler.py: 648] +05/26 04:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/1e23d9b649a643528ce00de750e858de [json_eval_task_sampler.py: 648] +05/26 04:49:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_2 [json_eval_task_sampler.py: 648] +05/26 04:49:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4764_ceiling.xml [task_sampler.py: 797] +05/26 04:49:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4764, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:49:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:49:49 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/26 04:49:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:49:49 INFO: [Worker 0] Sampled task 'Pick up the wooden sculpting tool and place it in or on the rustic round ceramic bowl with patterns' [task_sampler.py: 1136] +05/26 04:49:49 INFO: [Worker 0] Worker 0 house 4764 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:49:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:54:58 INFO: [Worker 0] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 04:55:01 INFO: [Worker 0] Batching and saving trajectory data for house_4764: 1 episodes [pipeline.py: 233] +05/26 04:55:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 04:55:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 04:55:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 [save_utils.py: 703] +05/26 04:55:03 INFO: [Worker 0] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) [pipeline.py: 280] +05/26 04:55:04 WARNING: [Worker 0] No trajectory data to save for house_4764 [pipeline.py: 229] +05/26 04:55:04 INFO: [Worker 0] Worker 0 completed house 4764: 0/1 successful episodes [pipeline.py: 1243] +05/26 04:55:04 INFO: [Worker 0] Worker 0 starting house 4802 (index 24/41) [pipeline.py: 473] +05/26 04:55:04 INFO: [Worker 0] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 04:55:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 04:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a37c32fbdbbb4ab19c8b1cccc557f52d [json_eval_task_sampler.py: 648] +05/26 04:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_5 [json_eval_task_sampler.py: 648] +05/26 04:55:09 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/f8b3d867de194e6cb587c89d54ed8f0e [json_eval_task_sampler.py: 648] +05/26 04:55:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4802_ceiling.xml [task_sampler.py: 797] +05/26 04:55:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4802, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 04:55:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 04:55:11 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 04:55:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 04:55:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 04:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 04:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 04:55:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 04:55:11 INFO: [Worker 0] Sampled task 'Pick up the ceramic bird figure and place it in or on the sleek metallic tray with edges' [task_sampler.py: 1136] +05/26 04:55:11 INFO: [Worker 0] Worker 0 house 4802 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 04:55:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 04:57:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:01:57 INFO: [Worker 0] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 05:02:01 INFO: [Worker 0] Batching and saving trajectory data for house_4802: 1 episodes [pipeline.py: 233] +05/26 05:02:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:02:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:02:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 [save_utils.py: 703] +05/26 05:02:04 INFO: [Worker 0] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) [pipeline.py: 280] +05/26 05:02:04 WARNING: [Worker 0] No trajectory data to save for house_4802 [pipeline.py: 229] +05/26 05:02:04 INFO: [Worker 0] Worker 0 completed house 4802: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:02:04 INFO: [Worker 0] Worker 0 starting house 4856 (index 25/41) [pipeline.py: 473] +05/26 05:02:04 INFO: [Worker 0] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:02:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Pot_19 [json_eval_task_sampler.py: 648] +05/26 05:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0e668fe03f564822ac2c97212f8b420a [json_eval_task_sampler.py: 648] +05/26 05:02:10 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/26 05:02:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4856_ceiling.xml [task_sampler.py: 797] +05/26 05:02:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4856, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:02:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:02:14 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/26 05:02:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:02:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:02:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:02:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:02:14 INFO: [Worker 0] Sampled task 'Pick up the red arrow object and place it in or on the round terracotta dish with painted motifs' [task_sampler.py: 1136] +05/26 05:02:14 INFO: [Worker 0] Worker 0 house 4856 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:02:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:05:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:14:04 INFO: [Worker 0] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 05:14:09 INFO: [Worker 0] Batching and saving trajectory data for house_4856: 1 episodes [pipeline.py: 233] +05/26 05:14:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:14:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:14:13 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 [save_utils.py: 703] +05/26 05:14:13 INFO: [Worker 0] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) [pipeline.py: 280] +05/26 05:14:14 WARNING: [Worker 0] No trajectory data to save for house_4856 [pipeline.py: 229] +05/26 05:14:14 INFO: [Worker 0] Worker 0 completed house 4856: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:14:14 INFO: [Worker 0] Worker 0 starting house 4909 (index 26/41) [pipeline.py: 473] +05/26 05:14:14 INFO: [Worker 0] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:14:14 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] +05/26 05:14:20 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_19 [json_eval_task_sampler.py: 648] +05/26 05:14:20 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/27dd012c10e64049b8ca900fe86f077f [json_eval_task_sampler.py: 648] +05/26 05:14:20 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/44f5be7685c1439c85cf9bc36e78578a [json_eval_task_sampler.py: 648] +05/26 05:14:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4909_ceiling.xml [task_sampler.py: 797] +05/26 05:14:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4909, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:14:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:14:25 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/26 05:14:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:14:25 INFO: [Worker 0] Sampled task 'Pick up the pink popsicle and place it in or on the glossy hemispherical bowl with earth map' [task_sampler.py: 1136] +05/26 05:14:25 INFO: [Worker 0] Worker 0 house 4909 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:14:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:17:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:21:20 INFO: [Worker 0] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 05:21:23 INFO: [Worker 0] Batching and saving trajectory data for house_4909: 1 episodes [pipeline.py: 233] +05/26 05:21:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:21:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:21:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 [save_utils.py: 703] +05/26 05:21:26 INFO: [Worker 0] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) [pipeline.py: 280] +05/26 05:21:26 WARNING: [Worker 0] No trajectory data to save for house_4909 [pipeline.py: 229] +05/26 05:21:26 INFO: [Worker 0] Worker 0 completed house 4909: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:21:26 INFO: [Worker 0] Worker 0 starting house 4980 (index 27/41) [pipeline.py: 473] +05/26 05:21:26 INFO: [Worker 0] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:21:26 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] +05/26 05:21:31 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/836b48b21dcb4842a208c66f106abf18 [json_eval_task_sampler.py: 648] +05/26 05:21:31 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/76d1dd1d3f874897b4a630216570d49d [json_eval_task_sampler.py: 648] +05/26 05:21:31 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_4 [json_eval_task_sampler.py: 648] +05/26 05:21:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4980_ceiling.xml [task_sampler.py: 797] +05/26 05:21:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4980, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:21:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:21:34 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/26 05:21:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:21:34 INFO: [Worker 0] Sampled task 'Pick up the rectangular card with squid illustration and place it in or on the white mug' [task_sampler.py: 1136] +05/26 05:21:34 INFO: [Worker 0] Worker 0 house 4980 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:21:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:24:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:30:16 INFO: [Worker 0] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 05:30:20 INFO: [Worker 0] Batching and saving trajectory data for house_4980: 1 episodes [pipeline.py: 233] +05/26 05:30:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:30:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:30:24 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 [save_utils.py: 703] +05/26 05:30:24 INFO: [Worker 0] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) [pipeline.py: 280] +05/26 05:30:24 WARNING: [Worker 0] No trajectory data to save for house_4980 [pipeline.py: 229] +05/26 05:30:24 INFO: [Worker 0] Worker 0 completed house 4980: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:30:24 INFO: [Worker 0] Worker 0 starting house 4999 (index 28/41) [pipeline.py: 473] +05/26 05:30:24 INFO: [Worker 0] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:30:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 05:30:37 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/26 05:30:37 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d8bcf6509a5d40378f2baec03bf551a5 [json_eval_task_sampler.py: 648] +05/26 05:30:37 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/26 05:30:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4999_ceiling.xml [task_sampler.py: 797] +05/26 05:30:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4999, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:30:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:30:43 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/26 05:30:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:30:43 INFO: [Worker 0] Sampled task 'Pick up the dark wooden handle handbell and place it in or on the ornate red box' [task_sampler.py: 1136] +05/26 05:30:43 INFO: [Worker 0] Worker 0 house 4999 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 05:30:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:30:44 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene [object_manager.py: 1238] +05/26 05:30:44 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene [object_manager.py: 1238] +05/26 05:30:44 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene [object_manager.py: 1238] +05/26 05:38:03 INFO: [Worker 0] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 05:38:07 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] +05/26 05:38:11 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/48272cae86364aa0995e70658330c0a9 [json_eval_task_sampler.py: 648] +05/26 05:38:11 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/d8bcf6509a5d40378f2baec03bf551a5 [json_eval_task_sampler.py: 648] +05/26 05:38:11 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/26 05:38:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4999_ceiling.xml [task_sampler.py: 797] +05/26 05:38:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4999, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:38:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:38:17 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/26 05:38:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:38:17 INFO: [Worker 0] Sampled task 'Pick up the adjustable metal wrench with handle and place it in or on the ornate red box' [task_sampler.py: 1136] +05/26 05:38:17 INFO: [Worker 0] Worker 0 house 4999 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 05:38:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:38:17 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene [object_manager.py: 1238] +05/26 05:38:17 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene [object_manager.py: 1238] +05/26 05:38:17 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene [object_manager.py: 1238] +05/26 05:45:07 INFO: [Worker 0] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 05:45:13 INFO: [Worker 0] Batching and saving trajectory data for house_4999: 2 episodes [pipeline.py: 233] +05/26 05:45:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:45:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:45:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:45:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:45:19 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 [save_utils.py: 703] +05/26 05:45:19 INFO: [Worker 0] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) [pipeline.py: 280] +05/26 05:45:20 WARNING: [Worker 0] No trajectory data to save for house_4999 [pipeline.py: 229] +05/26 05:45:20 INFO: [Worker 0] Worker 0 completed house 4999: 0/2 successful episodes [pipeline.py: 1243] +05/26 05:45:20 INFO: [Worker 0] Worker 0 starting house 5019 (index 29/41) [pipeline.py: 473] +05/26 05:45:20 INFO: [Worker 0] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:45:20 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] +05/26 05:45:22 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 05:45:22 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/0f1f3038a3144ab88d39739cc980fdc1 [json_eval_task_sampler.py: 648] +05/26 05:45:22 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/26 05:45:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5019_ceiling.xml [task_sampler.py: 797] +05/26 05:45:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:45:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:45:27 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 05:45:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:45:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:45:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:45:27 INFO: [Worker 0] Sampled task 'Pick up the black handgun and place it in or on the decorative porcelain dish' [task_sampler.py: 1136] +05/26 05:45:27 INFO: [Worker 0] Worker 0 house 5019 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:45:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:52:30 INFO: [Worker 0] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 05:52:34 INFO: [Worker 0] Batching and saving trajectory data for house_5019: 1 episodes [pipeline.py: 233] +05/26 05:52:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:52:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:52:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 [save_utils.py: 703] +05/26 05:52:37 INFO: [Worker 0] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) [pipeline.py: 280] +05/26 05:52:38 WARNING: [Worker 0] No trajectory data to save for house_5019 [pipeline.py: 229] +05/26 05:52:38 INFO: [Worker 0] Worker 0 completed house 5019: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:52:38 INFO: [Worker 0] Worker 0 starting house 5097 (index 30/41) [pipeline.py: 473] +05/26 05:52:38 INFO: [Worker 0] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:52:38 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] +05/26 05:52:38 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/a5588c0e88cc47f38d21d6d345f891db [json_eval_task_sampler.py: 648] +05/26 05:52:38 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/26 05:52:38 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/521e5cb1802643d0bb7366e1f85c18a9 [json_eval_task_sampler.py: 648] +05/26 05:52:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5097_ceiling.xml [task_sampler.py: 797] +05/26 05:52:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:52:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:52:40 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/26 05:52:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:52:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:52:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:52:40 INFO: [Worker 0] Sampled task 'Pick up the yellow chicken package and place it in or on the brown wooden leaf tray' [task_sampler.py: 1136] +05/26 05:52:40 INFO: [Worker 0] Worker 0 house 5097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:52:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 05:56:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 05:58:38 INFO: [Worker 0] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 05:58:41 INFO: [Worker 0] Batching and saving trajectory data for house_5097: 1 episodes [pipeline.py: 233] +05/26 05:58:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 05:58:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 05:58:44 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 [save_utils.py: 703] +05/26 05:58:44 INFO: [Worker 0] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) [pipeline.py: 280] +05/26 05:58:44 WARNING: [Worker 0] No trajectory data to save for house_5097 [pipeline.py: 229] +05/26 05:58:44 INFO: [Worker 0] Worker 0 completed house 5097: 0/1 successful episodes [pipeline.py: 1243] +05/26 05:58:44 INFO: [Worker 0] Worker 0 starting house 5161 (index 31/41) [pipeline.py: 473] +05/26 05:58:44 INFO: [Worker 0] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 05:58:44 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] +05/26 05:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/cb8931cc79b24d9cacb1d12349594c3b [json_eval_task_sampler.py: 648] +05/26 05:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/c7df0f7671d34fb9817d37067072f9ab [json_eval_task_sampler.py: 648] +05/26 05:58:48 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_30 [json_eval_task_sampler.py: 648] +05/26 05:58:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5161_ceiling.xml [task_sampler.py: 797] +05/26 05:58:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5161, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 05:58:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 05:58:50 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/26 05:58:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 05:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 05:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 05:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 05:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 05:58:50 INFO: [Worker 0] Sampled task 'Pick up the compact olive green emergency radio and place it in or on the glass bowl' [task_sampler.py: 1136] +05/26 05:58:50 INFO: [Worker 0] Worker 0 house 5161 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 05:58:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:01:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:03:10 INFO: [Worker 0] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:03:13 INFO: [Worker 0] Batching and saving trajectory data for house_5161: 1 episodes [pipeline.py: 233] +05/26 06:03:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:03:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:03:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 [save_utils.py: 703] +05/26 06:03:15 INFO: [Worker 0] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) [pipeline.py: 280] +05/26 06:03:16 WARNING: [Worker 0] No trajectory data to save for house_5161 [pipeline.py: 229] +05/26 06:03:16 INFO: [Worker 0] Worker 0 completed house 5161: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:03:16 INFO: [Worker 0] Worker 0 starting house 5208 (index 32/41) [pipeline.py: 473] +05/26 06:03:16 INFO: [Worker 0] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:03:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:03:23 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d8bcf6509a5d40378f2baec03bf551a5 [json_eval_task_sampler.py: 648] +05/26 06:03:23 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_17 [json_eval_task_sampler.py: 648] +05/26 06:03:23 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/80f09dd8b3d34005b3625823091978af [json_eval_task_sampler.py: 648] +05/26 06:03:23 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 06:03:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5208_ceiling.xml [task_sampler.py: 797] +05/26 06:03:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5208, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:03:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:03:26 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/26 06:03:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:03:26 INFO: [Worker 0] Sampled task 'Pick up the telegraph key and place it in or on the tan bowl with dark patterns' [task_sampler.py: 1136] +05/26 06:03:26 INFO: [Worker 0] Worker 0 house 5208 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:03:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:03:27 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 06:11:37 INFO: [Worker 0] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:11:42 INFO: [Worker 0] Batching and saving trajectory data for house_5208: 1 episodes [pipeline.py: 233] +05/26 06:11:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:11:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:11:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 [save_utils.py: 703] +05/26 06:11:45 INFO: [Worker 0] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) [pipeline.py: 280] +05/26 06:11:46 WARNING: [Worker 0] No trajectory data to save for house_5208 [pipeline.py: 229] +05/26 06:11:46 INFO: [Worker 0] Worker 0 completed house 5208: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:11:46 INFO: [Worker 0] Worker 0 starting house 5281 (index 33/41) [pipeline.py: 473] +05/26 06:11:46 INFO: [Worker 0] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:11:46 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] +05/26 06:11:50 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/26 06:11:50 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/26 06:11:50 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_19 [json_eval_task_sampler.py: 648] +05/26 06:11:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5281_ceiling.xml [task_sampler.py: 797] +05/26 06:11:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5281, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:11:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:11:55 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/26 06:11:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:11:55 INFO: [Worker 0] Sampled task 'Pick up the speckled white ceramic mug with handle and place it in or on the light brown bowl' [task_sampler.py: 1136] +05/26 06:11:55 INFO: [Worker 0] Worker 0 house 5281 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 06:11:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:17:59 INFO: [Worker 0] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 06:18:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:18:05 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/Bowl_16 [json_eval_task_sampler.py: 648] +05/26 06:18:05 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_21 [json_eval_task_sampler.py: 648] +05/26 06:18:05 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Pot_19 [json_eval_task_sampler.py: 648] +05/26 06:18:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5281_ceiling.xml [task_sampler.py: 797] +05/26 06:18:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5281, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:18:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:18:09 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/26 06:18:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:18:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:18:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:18:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:18:09 INFO: [Worker 0] Sampled task 'Pick up the chicken costume figure and place it in or on the light brown ceramic bowl' [task_sampler.py: 1136] +05/26 06:18:09 INFO: [Worker 0] Worker 0 house 5281 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 06:18:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:21:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:24:19 INFO: [Worker 0] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:24:23 INFO: [Worker 0] Batching and saving trajectory data for house_5281: 2 episodes [pipeline.py: 233] +05/26 06:24:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:24:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:24:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:24:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:24:28 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 [save_utils.py: 703] +05/26 06:24:28 INFO: [Worker 0] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) [pipeline.py: 280] +05/26 06:24:28 WARNING: [Worker 0] No trajectory data to save for house_5281 [pipeline.py: 229] +05/26 06:24:28 INFO: [Worker 0] Worker 0 completed house 5281: 0/2 successful episodes [pipeline.py: 1243] +05/26 06:24:28 INFO: [Worker 0] Worker 0 starting house 5283 (index 34/41) [pipeline.py: 473] +05/26 06:24:28 INFO: [Worker 0] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:24:28 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] +05/26 06:24:30 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/01395fa3a8e54abc8c32a016b2d8c5f5 [json_eval_task_sampler.py: 648] +05/26 06:24:30 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 06:24:30 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a2e1b30c4fbb491e9aeff5cccdfc00ec [json_eval_task_sampler.py: 648] +05/26 06:24:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5283_ceiling.xml [task_sampler.py: 797] +05/26 06:24:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5283, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:24:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:24:33 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/26 06:24:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:24:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:24:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:24:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:24:33 INFO: [Worker 0] Sampled task 'Pick up the sleek modern juicer metal and place it in or on the green rectangular box with snowflakes' [task_sampler.py: 1136] +05/26 06:24:33 INFO: [Worker 0] Worker 0 house 5283 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:24:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:26:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:29:34 INFO: [Worker 0] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:29:39 INFO: [Worker 0] Batching and saving trajectory data for house_5283: 1 episodes [pipeline.py: 233] +05/26 06:29:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:29:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:29:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 [save_utils.py: 703] +05/26 06:29:42 INFO: [Worker 0] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) [pipeline.py: 280] +05/26 06:29:43 WARNING: [Worker 0] No trajectory data to save for house_5283 [pipeline.py: 229] +05/26 06:29:43 INFO: [Worker 0] Worker 0 completed house 5283: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:29:43 INFO: [Worker 0] Worker 0 starting house 5340 (index 35/41) [pipeline.py: 473] +05/26 06:29:43 INFO: [Worker 0] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:29:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:29:52 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/d02ed62181d942fc9a1527b49bc67b17 [json_eval_task_sampler.py: 648] +05/26 06:29:52 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/26 06:29:52 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_13 [json_eval_task_sampler.py: 648] +05/26 06:29:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5340_ceiling.xml [task_sampler.py: 797] +05/26 06:29:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5340, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:29:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:29:58 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/26 06:29:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:29:58 INFO: [Worker 0] Sampled task 'Pick up the intricate brown carved ocarina and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 06:29:58 INFO: [Worker 0] Worker 0 house 5340 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:29:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:29:58 WARNING: [Worker 0] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene [object_manager.py: 1238] +05/26 06:32:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:35:25 INFO: [Worker 0] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 06:35:28 INFO: [Worker 0] Batching and saving trajectory data for house_5340: 1 episodes [pipeline.py: 233] +05/26 06:35:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:35:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:35:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 [save_utils.py: 703] +05/26 06:35:31 INFO: [Worker 0] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) [pipeline.py: 280] +05/26 06:35:31 WARNING: [Worker 0] No trajectory data to save for house_5340 [pipeline.py: 229] +05/26 06:35:31 INFO: [Worker 0] Worker 0 completed house 5340: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:35:31 INFO: [Worker 0] Worker 0 starting house 5417 (index 36/41) [pipeline.py: 473] +05/26 06:35:31 INFO: [Worker 0] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:35:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:35:34 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/292913530b1c41709ffc8685fbb9d55a [json_eval_task_sampler.py: 648] +05/26 06:35:34 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Bowl_26 [json_eval_task_sampler.py: 648] +05/26 06:35:34 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/Bowl_18 [json_eval_task_sampler.py: 648] +05/26 06:35:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5417_ceiling.xml [task_sampler.py: 797] +05/26 06:35:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5417, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:35:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:35:40 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 06:35:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:35:40 INFO: [Worker 0] Sampled task 'Pick up the climbingshoe and place it in or on the gray bowl' [task_sampler.py: 1136] +05/26 06:35:40 INFO: [Worker 0] Worker 0 house 5417 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:35:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:35:40 WARNING: [Worker 0] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene [object_manager.py: 1238] +05/26 06:35:40 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene [object_manager.py: 1238] +05/26 06:44:00 INFO: [Worker 0] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 06:44:03 INFO: [Worker 0] Batching and saving trajectory data for house_5417: 1 episodes [pipeline.py: 233] +05/26 06:44:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:44:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:44:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 [save_utils.py: 703] +05/26 06:44:06 INFO: [Worker 0] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/26 06:44:06 WARNING: [Worker 0] No trajectory data to save for house_5417 [pipeline.py: 229] +05/26 06:44:06 INFO: [Worker 0] Worker 0 completed house 5417: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:44:06 INFO: [Worker 0] Worker 0 starting house 5454 (index 37/41) [pipeline.py: 473] +05/26 06:44:06 INFO: [Worker 0] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:44:06 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] +05/26 06:44:08 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/7bcc0425058142c59255979a2b61f0d2 [json_eval_task_sampler.py: 648] +05/26 06:44:08 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/561e6757555049fca93f56e479f7cbe4 [json_eval_task_sampler.py: 648] +05/26 06:44:08 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/55bd2652583048adb5f261974f28b134 [json_eval_task_sampler.py: 648] +05/26 06:44:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5454_ceiling.xml [task_sampler.py: 797] +05/26 06:44:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5454, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:44:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:44:12 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 06:44:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:44:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:44:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:44:12 INFO: [Worker 0] Sampled task 'Pick up the purple smartphone and place it in or on the antique rustic metal bowl' [task_sampler.py: 1136] +05/26 06:44:12 INFO: [Worker 0] Worker 0 house 5454 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:44:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:44:12 WARNING: [Worker 0] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene [object_manager.py: 1238] +05/26 06:45:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 06:48:17 INFO: [Worker 0] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:48:20 INFO: [Worker 0] Batching and saving trajectory data for house_5454: 1 episodes [pipeline.py: 233] +05/26 06:48:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:48:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:48:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 [save_utils.py: 703] +05/26 06:48:22 INFO: [Worker 0] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) [pipeline.py: 280] +05/26 06:48:23 WARNING: [Worker 0] No trajectory data to save for house_5454 [pipeline.py: 229] +05/26 06:48:23 INFO: [Worker 0] Worker 0 completed house 5454: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:48:23 INFO: [Worker 0] Worker 0 starting house 5488 (index 38/41) [pipeline.py: 473] +05/26 06:48:23 INFO: [Worker 0] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:48:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:48:35 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/16bfd987e11444ca9c065718d49f5877 [json_eval_task_sampler.py: 648] +05/26 06:48:35 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/Pot_19 [json_eval_task_sampler.py: 648] +05/26 06:48:35 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/a6cfd144a62e446c92f0987fb81d584f [json_eval_task_sampler.py: 648] +05/26 06:48:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5488_ceiling.xml [task_sampler.py: 797] +05/26 06:48:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5488, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:48:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:48:37 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/26 06:48:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:48:37 INFO: [Worker 0] Sampled task 'Pick up the blocky wooden rifle wrapped in green and place it in or on the wide shallow metal cooking pot' [task_sampler.py: 1136] +05/26 06:48:37 INFO: [Worker 0] Worker 0 house 5488 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:48:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:53:20 INFO: [Worker 0] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 06:53:23 INFO: [Worker 0] Batching and saving trajectory data for house_5488: 1 episodes [pipeline.py: 233] +05/26 06:53:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 06:53:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 06:53:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 [save_utils.py: 703] +05/26 06:53:26 INFO: [Worker 0] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) [pipeline.py: 280] +05/26 06:53:27 WARNING: [Worker 0] No trajectory data to save for house_5488 [pipeline.py: 229] +05/26 06:53:27 INFO: [Worker 0] Worker 0 completed house 5488: 0/1 successful episodes [pipeline.py: 1243] +05/26 06:53:27 INFO: [Worker 0] Worker 0 starting house 5535 (index 39/41) [pipeline.py: 473] +05/26 06:53:27 INFO: [Worker 0] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 06:53:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 06:53:28 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/0564efdff76649c48c0c41b49dd6a25e [json_eval_task_sampler.py: 648] +05/26 06:53:28 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/12ca824c9c81470d994ceccb4b5a9061 [json_eval_task_sampler.py: 648] +05/26 06:53:28 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/63211cbfb48044bcbdbbd30a3aa3bb75 [json_eval_task_sampler.py: 648] +05/26 06:53:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5535_ceiling.xml [task_sampler.py: 797] +05/26 06:53:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5535, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 06:53:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 06:53:29 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/26 06:53:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 06:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 06:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 06:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 06:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 06:53:29 INFO: [Worker 0] Sampled task 'Pick up the worn sandal and place it in or on the pixelated ramen bowl' [task_sampler.py: 1136] +05/26 06:53:29 INFO: [Worker 0] Worker 0 house 5535 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 06:53:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 06:54:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 07:02:47 INFO: [Worker 0] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 07:02:51 INFO: [Worker 0] Batching and saving trajectory data for house_5535: 1 episodes [pipeline.py: 233] +05/26 07:02:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 07:02:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 07:02:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 [save_utils.py: 703] +05/26 07:02:54 INFO: [Worker 0] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/26 07:02:54 WARNING: [Worker 0] No trajectory data to save for house_5535 [pipeline.py: 229] +05/26 07:02:54 INFO: [Worker 0] Worker 0 completed house 5535: 0/1 successful episodes [pipeline.py: 1243] +05/26 07:02:54 INFO: [Worker 0] Worker 0 starting house 5561 (index 40/41) [pipeline.py: 473] +05/26 07:02:54 INFO: [Worker 0] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 07:02:54 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] +05/26 07:03:02 INFO: [Worker 0] Added body to scene: place_receptacle/0_0/50be4f8b8f744730878916aa38b0f08f [json_eval_task_sampler.py: 648] +05/26 07:03:02 INFO: [Worker 0] Added body to scene: place_receptacle/1_0/39afab89520c460598805c0a6bad291c [json_eval_task_sampler.py: 648] +05/26 07:03:02 INFO: [Worker 0] Added body to scene: place_receptacle/2_0/0aab5f2a6f744c13bffef0fccf53c0e0 [json_eval_task_sampler.py: 648] +05/26 07:03:02 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene [scene_maps.py: 66] +05/26 07:03:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5561_ceiling.xml [task_sampler.py: 797] +05/26 07:03:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5561, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 07:03:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 07:03:06 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 07:03:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 07:03:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 07:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 07:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 07:03:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 07:03:06 INFO: [Worker 0] Sampled task 'Pick up the rusty spray paint can with blue and place it in or on the green rectangular box with snowflakes' [task_sampler.py: 1136] +05/26 07:03:06 INFO: [Worker 0] Worker 0 house 5561 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 07:03:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 07:03:06 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 07:03:06 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene [object_manager.py: 1238] +05/26 07:03:06 WARNING: [Worker 0] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene [object_manager.py: 1238] +05/26 07:03:06 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene [object_manager.py: 1238] +05/26 07:03:06 WARNING: [Worker 0] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene [object_manager.py: 1238] +05/26 07:07:21 INFO: [Worker 0] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False [pipeline.py: 1114] +05/26 07:07:24 INFO: [Worker 0] Batching and saving trajectory data for house_5561: 1 episodes [pipeline.py: 233] +05/26 07:07:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 07:07:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 07:07:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 [save_utils.py: 703] +05/26 07:07:27 INFO: [Worker 0] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/26 07:07:27 WARNING: [Worker 0] No trajectory data to save for house_5561 [pipeline.py: 229] +05/26 07:07:27 INFO: [Worker 0] Worker 0 completed house 5561: 0/1 successful episodes [pipeline.py: 1243] +05/26 07:07:27 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/26 07:07:28 INFO: Completed 41 houses, skipped 0 houses [pipeline.py: 1496] +05/26 07:07:28 INFO: Success count: 0, Total count: 46 [pipeline.py: 1499] +05/26 07:07:28 INFO: Success rate: 0.00% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_07/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9b9d25c4d8210b9e8ba43c7b6772f383b278b55 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/episode_results.jsonl @@ -0,0 +1,46 @@ +{"house_id": "house_3725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red glossy popsicle on wooden stick and place it in or on the light gray shallow round bowl", "object_name": "objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chocolate nut bar and place it in or on the textured rustic bowl", "object_name": "objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3775", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black payment terminal and place it in or on the bowl", "object_name": "objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3775", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze medallion with design and place it in or on the rectangular plastic organizing tray", "object_name": "objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3840", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white athletic shoe with patterns and place it in or on the brown medical case", "object_name": "objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3891", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it in or on the round stone bowl with rim", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3944", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cylindrical smoke grenade with lever and place it in or on the round wooden bowl", "object_name": "objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green electronic rectangular display module and place it in or on the round dark bowl", "object_name": "objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4013", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red circular stone component and place it in or on the rustic gray stone bowl", "object_name": "objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4061", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue curved blades and place it in or on the round wooden bowl with grain", "object_name": "objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval ceramic dish with animal and place it in or on the smooth wooden bowl with natural grain", "object_name": "objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric blue butterfly and place it in or on the black matte cooking pot with handles", "object_name": "objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4223", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the twist bit and place it in or on the bright insect design bowl", "object_name": "objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4223", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek white dual electrical socket and place it in or on the gray bowl", "object_name": "objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4260", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage minerva stopwatch beige and place it in or on the shallow wooden bowl", "object_name": "objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4341", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red glossy popsicle on stick and place it in or on the round wooden bowl", "object_name": "objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4372", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth medium red apple with stem and place it in or on the green bowl", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4406", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue pcb with black chip and connector and place it in or on the beige bowl", "object_name": "objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular box with blue text and place it in or on the rustic brown coconut bowl", "object_name": "objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4532", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular off-white artifact and place it in or on the blue pot", "object_name": "objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4580", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red wall-mounted fire connection with caps and place it in or on the woodeowl", "object_name": "objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spiked collar and place it in or on the shallow ceramic bowl with foot", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marker with red bands and place it in or on the shallow round wooden bowl with texture", "object_name": "objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black grenade with graffiti and place it in or on the brown medical case", "object_name": "objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4692", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical soap bottle with pump and place it in or on the white bowl with textured facets", "object_name": "soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintageiron and place it in or on the round terracotta dish with handle", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4802", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic bird figure and place it in or on the sleek metallic tray with edges", "object_name": "objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4856", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red arrow object and place it in or on the round terracotta dish with painted motifs", "object_name": "objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4909", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink popsicle and place it in or on the glossy hemispherical bowl with earth map", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular card with squid illustration and place it in or on the white mug", "object_name": "objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden handle handbell and place it in or on the ornate red box", "object_name": "objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adjustable metal wrench with handle and place it in or on the ornate red box", "object_name": "objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handgun and place it in or on the decorative porcelain dish", "object_name": "objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow chicken package and place it in or on the brown wooden leaf tray", "object_name": "objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5161", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact olive green emergency radio and place it in or on the glass bowl", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the telegraph key and place it in or on the tan bowl with dark patterns", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the speckled white ceramic mug with handle and place it in or on the light brown bowl", "object_name": "objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chicken costume figure and place it in or on the light brown ceramic bowl", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek modern juicer metal and place it in or on the green rectangular box with snowflakes", "object_name": "objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5340", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate brown carved ocarina and place it in or on the gray bowl", "object_name": "objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5417", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the climbingshoe and place it in or on the gray bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5454", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple smartphone and place it in or on the antique rustic metal bowl", "object_name": "objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5488", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden rifle wrapped in green and place it in or on the wide shallow metal cooking pot", "object_name": "objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5535", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn sandal and place it in or on the pixelated ramen bowl", "object_name": "objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it in or on the green rectangular box with snowflakes", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/eval.log b/pnp_v2/pnp_v2/shards/shard_07/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..53feb034239991b90359f738984086437e15615e --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/eval.log @@ -0,0 +1,1616 @@ +[2026-05-26 01:03:53,450] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,543] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,567] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 01:03:56,458] 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' +[2026-05-26 01:04:08,181] 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() +[2026-05-26 01:04:35,632] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:35,634] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:39,386] 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 +[2026-05-26 01:04:39,469] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:39 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:39,520] INFO JsonEvalRunner initialized: 41 houses, 46 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 INFO pipeline.py:1279] Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes +[05/26 01:04:39 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:39 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/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + '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': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:39,531] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +[05/26 01:04:39 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:39 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'}} +[05/26 01:04:39 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 0/41) +[05/26 01:04:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +2026-05-26 01:06:05.683 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:41,352] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:41,922] 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. +[2026-05-26 01:08:51,125] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,847] 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 +[2026-05-26 01:09:04,851] 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 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 01:17:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/26 01:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:17:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:17:51 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 +[05/26 01:17:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:17:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/26 01:17:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 0/1 successful episodes +[05/26 01:17:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3774 (index 1/41) +[05/26 01:17:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:17:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 01:22:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False +[05/26 01:25:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3774: 1 episodes +[05/26 01:25:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) +[05/26 01:25:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3774: 0/1 successful episodes +[05/26 01:25:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3775 (index 2/41) +[05/26 01:25:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:25:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,252] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False +[05/26 01:39:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:58,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False +[05/26 01:46:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3775: 2 episodes +[05/26 01:46:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) +[05/26 01:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3775: 0/2 successful episodes +[05/26 01:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3840 (index 3/41) +[05/26 01:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/26 01:55:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene +[2026-05-26 01:56:36,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False +[05/26 02:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3840: 1 episodes +[05/26 02:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:17 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 +[05/26 02:00:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) +[05/26 02:00:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3840 +[05/26 02:00:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3840: 0/1 successful episodes +[05/26 02:00:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3891 (index 4/41) +[05/26 02:00:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[2026-05-26 02:02:48,772] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False +[05/26 02:09:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3891: 1 episodes +[05/26 02:09:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 +[05/26 02:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) +[05/26 02:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3891 +[05/26 02:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3891: 0/1 successful episodes +[05/26 02:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3944 (index 5/41) +[05/26 02:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 02:10:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 02:12:08,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:13:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False +[05/26 02:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3944: 1 episodes +[05/26 02:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:15 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) +[05/26 02:22:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3944: 0/1 successful episodes +[05/26 02:22:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3972 (index 6/41) +[05/26 02:22:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:22:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 02:22:26 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +[2026-05-26 02:24:24,101] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False +[05/26 02:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3972: 1 episodes +[05/26 02:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) +[05/26 02:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3972: 0/1 successful episodes +[05/26 02:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4013 (index 7/41) +[05/26 02:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene +[2026-05-26 02:32:42,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:39:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False +[05/26 02:39:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4013: 1 episodes +[05/26 02:39:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:39:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:39:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 +[05/26 02:39:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) +[05/26 02:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4013 +[05/26 02:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4013: 0/1 successful episodes +[05/26 02:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4061 (index 8/41) +[05/26 02:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/4 [00:00 does not support tracking retries. +[2026-05-26 02:41:38,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:43:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:47:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/26 02:47:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4061: 1 episodes +[05/26 02:47:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:14 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 +[05/26 02:47:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 02:47:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4061 +[05/26 02:47:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4061: 0/1 successful episodes +[05/26 02:47:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 9/41) +[05/26 02:47:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 02:49:22,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False +[05/26 02:54:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/26 02:54:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:03 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 +[05/26 02:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) +[05/26 02:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/26 02:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/26 02:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4190 (index 10/41) +[05/26 02:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:57:53,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:59:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False +[05/26 03:07:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4190: 1 episodes +[05/26 03:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:41 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 +[05/26 03:07:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) +[05/26 03:07:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4190 +[05/26 03:07:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4190: 0/1 successful episodes +[05/26 03:07:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4223 (index 11/41) +[05/26 03:07:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:07:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:10:15,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False +[05/26 03:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:16:07 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:17:56,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:19:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False +[05/26 03:23:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4223: 2 episodes +[05/26 03:23:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) +[05/26 03:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4223: 0/2 successful episodes +[05/26 03:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4260 (index 12/41) +[05/26 03:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene +[2026-05-26 03:24:37,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/26 03:30:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4260: 1 episodes +[05/26 03:30:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:29 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) +[05/26 03:30:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4260: 0/1 successful episodes +[05/26 03:30:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4341 (index 13/41) +[05/26 03:30:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:30:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:32:42,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:38:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 03:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4341: 1 episodes +[05/26 03:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:38:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:38:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 +[05/26 03:38:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) +[05/26 03:38:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4341 +[05/26 03:38:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4341: 0/1 successful episodes +[05/26 03:38:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 14/41) +[05/26 03:38:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:38:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 03:41:01,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:44:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False +[05/26 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/26 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:45:02 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 +[05/26 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) +[05/26 03:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/26 03:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/26 03:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4406 (index 15/41) +[05/26 03:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 03:46:37,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:47:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False +[05/26 03:53:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4406: 1 episodes +[05/26 03:53:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 +[05/26 03:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) +[05/26 03:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4406 +[05/26 03:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4406: 0/1 successful episodes +[05/26 03:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4465 (index 16/41) +[05/26 03:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[2026-05-26 03:55:38,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False +[05/26 04:00:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4465: 1 episodes +[05/26 04:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 +[05/26 04:00:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) +[05/26 04:00:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4465 +[05/26 04:00:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4465: 0/1 successful episodes +[05/26 04:00:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4532 (index 17/41) +[05/26 04:00:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:00:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:02:13,139] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False +[05/26 04:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4532: 1 episodes +[05/26 04:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:50 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) +[05/26 04:06:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4532: 0/1 successful episodes +[05/26 04:06:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4580 (index 18/41) +[05/26 04:06:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:06:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +[2026-05-26 04:08:16,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False +[05/26 04:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4580: 1 episodes +[05/26 04:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:18:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 +[05/26 04:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) +[05/26 04:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4580 +[05/26 04:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4580: 0/1 successful episodes +[05/26 04:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4613 (index 19/41) +[05/26 04:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:20:43,442] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 04:25:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:27:12,394] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False +[05/26 04:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4613: 2 episodes +[05/26 04:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:26 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 +[05/26 04:32:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) +[05/26 04:32:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4613 +[05/26 04:32:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4613: 0/2 successful episodes +[05/26 04:32:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4640 (index 20/41) +[05/26 04:32:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:32:27 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'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 04:34:17,334] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:36:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/26 04:36:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4640: 1 episodes +[05/26 04:36:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:45 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) +[05/26 04:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4640: 0/1 successful episodes +[05/26 04:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 21/41) +[05/26 04:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:38:02,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False +[05/26 04:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/26 04:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:25 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 +[05/26 04:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) +[05/26 04:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/26 04:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/26 04:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 22/41) +[05/26 04:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:42:19,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:49:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/26 04:49:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/26 04:49:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:49:47 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 +[05/26 04:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/26 04:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/26 04:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 23/41) +[05/26 04:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 04:51:35,357] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/26 04:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/26 04:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:55:03 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 +[05/26 04:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 04:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/26 04:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/26 04:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 24/41) +[05/26 04:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 04:56:42,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:57:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False +[05/26 05:02:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/26 05:02:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:02:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) +[05/26 05:02:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/26 05:02:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4856 (index 25/41) +[05/26 05:02:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:02:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 05:04:02,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:14:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False +[05/26 05:14:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4856: 1 episodes +[05/26 05:14:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:14:13 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 +[05/26 05:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) +[05/26 05:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4856 +[05/26 05:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4856: 0/1 successful episodes +[05/26 05:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4909 (index 26/41) +[05/26 05:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 05:16:40,931] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False +[05/26 05:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4909: 1 episodes +[05/26 05:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) +[05/26 05:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4909: 0/1 successful episodes +[05/26 05:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4980 (index 27/41) +[05/26 05:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:23:12,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:24:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False +[05/26 05:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4980: 1 episodes +[05/26 05:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:24 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) +[05/26 05:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4980: 0/1 successful episodes +[05/26 05:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 28/41) +[05/26 05:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:32:48,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/26 05:38:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:39:49,112] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:45:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False +[05/26 05:45:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 2 episodes +[05/26 05:45:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 +[05/26 05:45:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) +[05/26 05:45:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/26 05:45:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/2 successful episodes +[05/26 05:45:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5019 (index 29/41) +[05/26 05:45:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:45:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 05:47:45,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False +[05/26 05:52:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5019: 1 episodes +[05/26 05:52:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:37 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 +[05/26 05:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) +[05/26 05:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5019 +[05/26 05:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5019: 0/1 successful episodes +[05/26 05:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 30/41) +[05/26 05:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 05:54:51,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False +[05/26 05:58:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/26 05:58:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:44 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) +[05/26 05:58:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/26 05:58:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5161 (index 31/41) +[05/26 05:58:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:58:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:00:37,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False +[05/26 06:03:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5161: 1 episodes +[05/26 06:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:03:15 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 +[05/26 06:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) +[05/26 06:03:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5161 +[05/26 06:03:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5161: 0/1 successful episodes +[05/26 06:03:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5208 (index 32/41) +[05/26 06:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:03:16 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'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:03:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 06:05:28,634] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False +[05/26 06:11:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5208: 1 episodes +[05/26 06:11:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:45 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 +[05/26 06:11:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) +[05/26 06:11:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5208 +[05/26 06:11:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5208: 0/1 successful episodes +[05/26 06:11:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5281 (index 33/41) +[05/26 06:11:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:11:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:14:02,361] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False +[05/26 06:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:20:23,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False +[05/26 06:24:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5281: 2 episodes +[05/26 06:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) +[05/26 06:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5281: 0/2 successful episodes +[05/26 06:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5283 (index 34/41) +[05/26 06:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:25:54,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:26:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False +[05/26 06:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5283: 1 episodes +[05/26 06:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 +[05/26 06:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) +[05/26 06:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5283 +[05/26 06:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5283: 0/1 successful episodes +[05/26 06:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5340 (index 35/41) +[05/26 06:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 06:29:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene +[2026-05-26 06:31:46,463] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:32:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False +[05/26 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5340: 1 episodes +[05/26 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) +[05/26 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5340: 0/1 successful episodes +[05/26 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 36/41) +[05/26 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[2026-05-26 06:37:30,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:44:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 06:44:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/26 06:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:44:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:44:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) +[05/26 06:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/26 06:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5454 (index 37/41) +[05/26 06:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:44:06 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'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 06:44:12 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene +[2026-05-26 06:45:29,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False +[05/26 06:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5454: 1 episodes +[05/26 06:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 +[05/26 06:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) +[05/26 06:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5454 +[05/26 06:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5454: 0/1 successful episodes +[05/26 06:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5488 (index 38/41) +[05/26 06:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:49:41,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False +[05/26 06:53:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5488: 1 episodes +[05/26 06:53:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 +[05/26 06:53:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) +[05/26 06:53:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5488 +[05/26 06:53:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5488: 0/1 successful episodes +[05/26 06:53:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5535 (index 39/41) +[05/26 06:53:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:53:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 06:54:33,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:02:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False +[05/26 07:02:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5535: 1 episodes +[05/26 07:02:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:02:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:02:54 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) +[05/26 07:02:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5535: 0/1 successful episodes +[05/26 07:02:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5561 (index 40/41) +[05/26 07:02:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 07:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene +[2026-05-26 07:04:28,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:07:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False +[05/26 07:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5561: 1 episodes +[05/26 07:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:27 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 07:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5561: 0/1 successful episodes +[05/26 07:07:27 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:28 INFO pipeline.py:1496] Completed 41 houses, skipped 0 houses +[05/26 07:07:28 INFO pipeline.py:1499] Success count: 0, Total count: 46 +[05/26 07:07:28 INFO pipeline.py:1500] Success rate: 0.00% +Combined 46 episodes from 41 files → /tmp/tmpt4yxz8_w.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv at-end: 0.0% | oracle: 0.0% of 46 episodes +[2026-05-26 07:07:32,552] INFO MolmoSpaces simulator eval finished: success=0/46 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +[2026-05-26 07:07:32,552] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_07/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0f80c6c69c9d10d3d9a8dc6346ca75b58f90b8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv b/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ab1ca21889db7b54f19b80a195a455d83da92fa2 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv @@ -0,0 +1,50 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +# 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,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.123605,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.719107,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.698426,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.571412,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.085303,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.614859,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.576357,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.104656,0.0 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.937946,0.0 +latest,Objadecorativebutterfly,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.32133,0.0 +latest,Objadecorativedish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.914921,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.599876,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.10225,0.0 +latest,Objaelectricalsocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.211274,0.0 +latest,Objaelectronicdisplaymodule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.827897,0.0 +latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.874,0.0 +latest,Objafiredepartmentconnection,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.459243,0.0 +latest,Objafoodpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.495448,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.73566,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.54153,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.002879,0.0 +latest,Objaicecreambar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.000328,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.067801,0.0 +latest,Objamarker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.313489,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,169.691018,0.0 +latest,Objamedicinebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.175742,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.813587,0.0 +latest,Objapaymentterminal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.647445,0.0 +latest,Objapopsicle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,39.083426,38.12048 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.640367,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.167625,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.78187,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.592669,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.297656,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.406894,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.097527,0.0 +latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.323597,0.0 +latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.07824,0.0 +latest,Objatoyrifle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.060291,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.483135,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.107969,0.0 +latest,OVERALL,0,46,0.0,0.05,7.55,0,0.0,0.05,7.55,45.660102,35.9505 diff --git a/pnp_v2/pnp_v2/shards/shard_07/eval/summary.json b/pnp_v2/pnp_v2/shards/shard_07/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..86ee32fd7d6782179cbbdfbc3ba61a347f3cc1bf --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/eval/summary.json @@ -0,0 +1,128 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.0, + "success_count": 0.0, + "total_episodes": 46.0, + "avg_episode_length": 449.0, + "oracle_done_rate": 0.0, + "success_rate_pct": 0.0, + "oracle_rate_pct": 0.0 + }, + "stats": { + "total_episodes": 46, + "success_count": 0, + "failure_count": 46, + "success_rate": 0.0, + "avg_episode_length": 449.0, + "min_episode_length": 449, + "max_episode_length": 449, + "num_houses": 41, + "house_success_rates": { + "house_3725": 0.0, + "house_3774": 0.0, + "house_3775": 0.0, + "house_3840": 0.0, + "house_3891": 0.0, + "house_3944": 0.0, + "house_3972": 0.0, + "house_4013": 0.0, + "house_4061": 0.0, + "house_4132": 0.0, + "house_4190": 0.0, + "house_4223": 0.0, + "house_4260": 0.0, + "house_4341": 0.0, + "house_4372": 0.0, + "house_4406": 0.0, + "house_4465": 0.0, + "house_4532": 0.0, + "house_4580": 0.0, + "house_4613": 0.0, + "house_4640": 0.0, + "house_4692": 0.0, + "house_4728": 0.0, + "house_4764": 0.0, + "house_4802": 0.0, + "house_4856": 0.0, + "house_4909": 0.0, + "house_4980": 0.0, + "house_4999": 0.0, + "house_5019": 0.0, + "house_5097": 0.0, + "house_5161": 0.0, + "house_5208": 0.0, + "house_5281": 0.0, + "house_5283": 0.0, + "house_5340": 0.0, + "house_5417": 0.0, + "house_5454": 0.0, + "house_5488": 0.0, + "house_5535": 0.0, + "house_5561": 0.0 + }, + "oracle_done_count": 0, + "oracle_done_rate": 0.0 + }, + "success_count": 0, + "total_count": 46, + "success_rate": 0.0, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 0, + "total": 46, + "success_rate_pct": 0.0, + "ci_95_low_pct": 0.05, + "ci_95_high_pct": 7.55, + "oracle_successes": 0, + "oracle_rate_pct": 0.0, + "oracle_ci_95_low_pct": 0.05, + "oracle_ci_95_high_pct": 7.55, + "jerk_joint_mean": 45.660102, + "jerk_joint_std": 35.9505 + }, + "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/pnp_v2/pnp_v2/shards/shard_07/submission/episode_results.jsonl b/pnp_v2/pnp_v2/shards/shard_07/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9b9d25c4d8210b9e8ba43c7b6772f383b278b55 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/episode_results.jsonl @@ -0,0 +1,46 @@ +{"house_id": "house_3725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red glossy popsicle on wooden stick and place it in or on the light gray shallow round bowl", "object_name": "objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3774", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chocolate nut bar and place it in or on the textured rustic bowl", "object_name": "objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2", "data_file_path": 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{}} +{"house_id": "house_3891", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it in or on the round stone bowl with rim", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3944", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cylindrical smoke grenade with lever and place it in or on the round wooden bowl", "object_name": "objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4", "data_file_path": 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+{"house_id": "house_4372", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth medium red apple with stem and place it in or on the green bowl", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4406", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue pcb with black chip and connector and place it in or on the beige bowl", "object_name": "objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3", "data_file_path": 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triangular off-white artifact and place it in or on the blue pot", "object_name": "objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4580", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red wall-mounted fire connection with caps and place it in or on the woodeowl", "object_name": "objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spiked collar and place it in or on the shallow ceramic bowl with foot", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marker with red bands and place it in or on the shallow round wooden bowl with texture", "object_name": "objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5", "data_file_path": 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+{"house_id": "house_4764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4802", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic bird figure and place it in or on the sleek metallic tray with edges", "object_name": "objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6", "data_file_path": 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popsicle and place it in or on the glossy hemispherical bowl with earth map", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular card with squid illustration and place it in or on the white mug", "object_name": "objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden handle handbell and place it in or on the ornate red box", "object_name": "objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adjustable metal wrench with handle and place it in or on the ornate red box", "object_name": "objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handgun and place it in or on the decorative porcelain dish", "object_name": "objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow chicken package and place it in or on the brown wooden leaf tray", "object_name": "objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5161", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact olive green emergency radio and place it in or on the glass bowl", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the telegraph key and place it in or on the tan bowl with dark patterns", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the speckled white ceramic mug with handle and place it in or on the light brown bowl", "object_name": "objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chicken costume figure and place it in or on the light brown ceramic bowl", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek modern juicer metal and place it in or on the green rectangular box with snowflakes", "object_name": "objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5340", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate brown carved ocarina and place it in or on the gray bowl", "object_name": "objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5417", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the climbingshoe and place it in or on the gray bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5454", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple smartphone and place it in or on the antique rustic metal bowl", "object_name": "objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5488", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden rifle wrapped in green and place it in or on the wide shallow metal cooking pot", "object_name": "objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5535", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn sandal and place it in or on the pixelated ramen bowl", "object_name": "objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it in or on the green rectangular box with snowflakes", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/eval.log b/pnp_v2/pnp_v2/shards/shard_07/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..53feb034239991b90359f738984086437e15615e --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/eval.log @@ -0,0 +1,1616 @@ +[2026-05-26 01:03:53,450] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,543] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,567] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 01:03:56,458] 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' +[2026-05-26 01:04:08,181] 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() +[2026-05-26 01:04:35,632] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:35,634] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:39,386] 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 +[2026-05-26 01:04:39,469] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:39 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:39,520] INFO JsonEvalRunner initialized: 41 houses, 46 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 INFO pipeline.py:1279] Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes +[05/26 01:04:39 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:39 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/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + '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': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:39,531] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +[05/26 01:04:39 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:39 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'}} +[05/26 01:04:39 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 0/41) +[05/26 01:04:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 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'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +2026-05-26 01:06:05.683 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:41,352] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:41,922] 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. +[2026-05-26 01:08:51,125] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,847] 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 +[2026-05-26 01:09:04,851] 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 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 01:17:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/26 01:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:17:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:17:51 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 +[05/26 01:17:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:17:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/26 01:17:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 0/1 successful episodes +[05/26 01:17:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3774 (index 1/41) +[05/26 01:17:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:17:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 01:22:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False +[05/26 01:25:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3774: 1 episodes +[05/26 01:25:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) +[05/26 01:25:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3774: 0/1 successful episodes +[05/26 01:25:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3775 (index 2/41) +[05/26 01:25:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:25:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,252] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False +[05/26 01:39:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:58,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False +[05/26 01:46:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3775: 2 episodes +[05/26 01:46:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) +[05/26 01:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3775: 0/2 successful episodes +[05/26 01:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3840 (index 3/41) +[05/26 01:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/26 01:55:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene +[2026-05-26 01:56:36,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False +[05/26 02:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3840: 1 episodes +[05/26 02:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:17 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 +[05/26 02:00:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) +[05/26 02:00:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3840 +[05/26 02:00:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3840: 0/1 successful episodes +[05/26 02:00:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3891 (index 4/41) +[05/26 02:00:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[2026-05-26 02:02:48,772] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False +[05/26 02:09:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3891: 1 episodes +[05/26 02:09:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 +[05/26 02:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) +[05/26 02:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3891 +[05/26 02:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3891: 0/1 successful episodes +[05/26 02:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3944 (index 5/41) +[05/26 02:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 02:10:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 02:12:08,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:13:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False +[05/26 02:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3944: 1 episodes +[05/26 02:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:15 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) +[05/26 02:22:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3944: 0/1 successful episodes +[05/26 02:22:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3972 (index 6/41) +[05/26 02:22:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:22:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 02:22:26 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +[2026-05-26 02:24:24,101] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False +[05/26 02:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3972: 1 episodes +[05/26 02:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) +[05/26 02:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3972: 0/1 successful episodes +[05/26 02:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4013 (index 7/41) +[05/26 02:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene +[2026-05-26 02:32:42,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:39:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False +[05/26 02:39:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4013: 1 episodes +[05/26 02:39:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:39:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:39:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 +[05/26 02:39:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) +[05/26 02:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4013 +[05/26 02:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4013: 0/1 successful episodes +[05/26 02:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4061 (index 8/41) +[05/26 02:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/4 [00:00 does not support tracking retries. +[2026-05-26 02:41:38,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:43:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:47:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/26 02:47:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4061: 1 episodes +[05/26 02:47:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:14 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 +[05/26 02:47:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 02:47:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4061 +[05/26 02:47:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4061: 0/1 successful episodes +[05/26 02:47:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 9/41) +[05/26 02:47:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 02:49:22,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False +[05/26 02:54:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/26 02:54:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:03 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 +[05/26 02:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) +[05/26 02:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/26 02:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/26 02:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4190 (index 10/41) +[05/26 02:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:57:53,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:59:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False +[05/26 03:07:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4190: 1 episodes +[05/26 03:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:41 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 +[05/26 03:07:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) +[05/26 03:07:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4190 +[05/26 03:07:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4190: 0/1 successful episodes +[05/26 03:07:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4223 (index 11/41) +[05/26 03:07:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:07:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:10:15,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False +[05/26 03:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:16:07 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:17:56,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:19:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False +[05/26 03:23:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4223: 2 episodes +[05/26 03:23:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) +[05/26 03:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4223: 0/2 successful episodes +[05/26 03:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4260 (index 12/41) +[05/26 03:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene +[2026-05-26 03:24:37,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/26 03:30:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4260: 1 episodes +[05/26 03:30:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:29 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) +[05/26 03:30:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4260: 0/1 successful episodes +[05/26 03:30:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4341 (index 13/41) +[05/26 03:30:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:30:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:32:42,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:38:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 03:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4341: 1 episodes +[05/26 03:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:38:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:38:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 +[05/26 03:38:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) +[05/26 03:38:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4341 +[05/26 03:38:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4341: 0/1 successful episodes +[05/26 03:38:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 14/41) +[05/26 03:38:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:38:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 03:41:01,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:44:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False +[05/26 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/26 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:45:02 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 +[05/26 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) +[05/26 03:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/26 03:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/26 03:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4406 (index 15/41) +[05/26 03:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 03:46:37,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:47:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False +[05/26 03:53:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4406: 1 episodes +[05/26 03:53:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 +[05/26 03:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) +[05/26 03:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4406 +[05/26 03:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4406: 0/1 successful episodes +[05/26 03:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4465 (index 16/41) +[05/26 03:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[2026-05-26 03:55:38,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False +[05/26 04:00:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4465: 1 episodes +[05/26 04:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 +[05/26 04:00:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) +[05/26 04:00:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4465 +[05/26 04:00:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4465: 0/1 successful episodes +[05/26 04:00:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4532 (index 17/41) +[05/26 04:00:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:00:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:02:13,139] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False +[05/26 04:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4532: 1 episodes +[05/26 04:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:50 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) +[05/26 04:06:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4532: 0/1 successful episodes +[05/26 04:06:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4580 (index 18/41) +[05/26 04:06:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:06:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +[2026-05-26 04:08:16,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False +[05/26 04:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4580: 1 episodes +[05/26 04:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:18:05 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 +[05/26 04:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) +[05/26 04:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4580 +[05/26 04:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4580: 0/1 successful episodes +[05/26 04:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4613 (index 19/41) +[05/26 04:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:20:43,442] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 04:25:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:27:12,394] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False +[05/26 04:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4613: 2 episodes +[05/26 04:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:26 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 +[05/26 04:32:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) +[05/26 04:32:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4613 +[05/26 04:32:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4613: 0/2 successful episodes +[05/26 04:32:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4640 (index 20/41) +[05/26 04:32:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:32:27 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'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 04:34:17,334] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:36:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/26 04:36:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4640: 1 episodes +[05/26 04:36:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:45 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) +[05/26 04:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4640: 0/1 successful episodes +[05/26 04:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 21/41) +[05/26 04:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:38:02,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False +[05/26 04:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/26 04:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:25 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 +[05/26 04:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) +[05/26 04:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/26 04:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/26 04:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 22/41) +[05/26 04:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:42:19,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:49:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/26 04:49:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/26 04:49:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:49:47 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 +[05/26 04:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/26 04:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/26 04:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 23/41) +[05/26 04:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 04:51:35,357] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/26 04:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/26 04:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:55:03 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 +[05/26 04:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 04:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/26 04:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/26 04:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 24/41) +[05/26 04:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 04:56:42,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:57:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False +[05/26 05:02:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/26 05:02:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:02:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) +[05/26 05:02:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/26 05:02:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4856 (index 25/41) +[05/26 05:02:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:02:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 05:04:02,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:14:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False +[05/26 05:14:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4856: 1 episodes +[05/26 05:14:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:14:13 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 +[05/26 05:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) +[05/26 05:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4856 +[05/26 05:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4856: 0/1 successful episodes +[05/26 05:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4909 (index 26/41) +[05/26 05:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 05:16:40,931] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False +[05/26 05:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4909: 1 episodes +[05/26 05:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) +[05/26 05:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4909: 0/1 successful episodes +[05/26 05:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4980 (index 27/41) +[05/26 05:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:23:12,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:24:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False +[05/26 05:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4980: 1 episodes +[05/26 05:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:24 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) +[05/26 05:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4980: 0/1 successful episodes +[05/26 05:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 28/41) +[05/26 05:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:32:48,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/26 05:38:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:39:49,112] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:45:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False +[05/26 05:45:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 2 episodes +[05/26 05:45:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 +[05/26 05:45:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) +[05/26 05:45:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/26 05:45:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/2 successful episodes +[05/26 05:45:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5019 (index 29/41) +[05/26 05:45:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:45:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 05:47:45,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False +[05/26 05:52:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5019: 1 episodes +[05/26 05:52:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:37 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 +[05/26 05:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) +[05/26 05:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5019 +[05/26 05:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5019: 0/1 successful episodes +[05/26 05:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 30/41) +[05/26 05:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 05:54:51,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False +[05/26 05:58:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/26 05:58:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:44 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) +[05/26 05:58:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/26 05:58:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5161 (index 31/41) +[05/26 05:58:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:58:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:00:37,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False +[05/26 06:03:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5161: 1 episodes +[05/26 06:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:03:15 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 +[05/26 06:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) +[05/26 06:03:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5161 +[05/26 06:03:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5161: 0/1 successful episodes +[05/26 06:03:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5208 (index 32/41) +[05/26 06:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:03:16 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'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:03:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 06:05:28,634] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False +[05/26 06:11:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5208: 1 episodes +[05/26 06:11:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:45 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 +[05/26 06:11:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) +[05/26 06:11:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5208 +[05/26 06:11:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5208: 0/1 successful episodes +[05/26 06:11:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5281 (index 33/41) +[05/26 06:11:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:11:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:14:02,361] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False +[05/26 06:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:20:23,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False +[05/26 06:24:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5281: 2 episodes +[05/26 06:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) +[05/26 06:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5281: 0/2 successful episodes +[05/26 06:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5283 (index 34/41) +[05/26 06:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:25:54,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:26:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False +[05/26 06:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5283: 1 episodes +[05/26 06:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 +[05/26 06:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) +[05/26 06:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5283 +[05/26 06:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5283: 0/1 successful episodes +[05/26 06:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5340 (index 35/41) +[05/26 06:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 06:29:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene +[2026-05-26 06:31:46,463] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:32:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False +[05/26 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5340: 1 episodes +[05/26 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) +[05/26 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5340: 0/1 successful episodes +[05/26 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 36/41) +[05/26 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[2026-05-26 06:37:30,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:44:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 06:44:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/26 06:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:44:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:44:06 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) +[05/26 06:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/26 06:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5454 (index 37/41) +[05/26 06:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:44:06 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'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 06:44:12 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene +[2026-05-26 06:45:29,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False +[05/26 06:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5454: 1 episodes +[05/26 06:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 +[05/26 06:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) +[05/26 06:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5454 +[05/26 06:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5454: 0/1 successful episodes +[05/26 06:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5488 (index 38/41) +[05/26 06:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:49:41,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False +[05/26 06:53:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5488: 1 episodes +[05/26 06:53:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 +[05/26 06:53:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) +[05/26 06:53:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5488 +[05/26 06:53:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5488: 0/1 successful episodes +[05/26 06:53:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5535 (index 39/41) +[05/26 06:53:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:53:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 06:54:33,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:02:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False +[05/26 07:02:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5535: 1 episodes +[05/26 07:02:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:02:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:02:54 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) +[05/26 07:02:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5535: 0/1 successful episodes +[05/26 07:02:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5561 (index 40/41) +[05/26 07:02:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 07:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene +[2026-05-26 07:04:28,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:07:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False +[05/26 07:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5561: 1 episodes +[05/26 07:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:27 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/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 07:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5561: 0/1 successful episodes +[05/26 07:07:27 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:28 INFO pipeline.py:1496] Completed 41 houses, skipped 0 houses +[05/26 07:07:28 INFO pipeline.py:1499] Success count: 0, Total count: 46 +[05/26 07:07:28 INFO pipeline.py:1500] Success rate: 0.00% +Combined 46 episodes from 41 files → /tmp/tmpt4yxz8_w.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv at-end: 0.0% | oracle: 0.0% of 46 episodes +[2026-05-26 07:07:32,552] INFO MolmoSpaces simulator eval finished: success=0/46 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +[2026-05-26 07:07:32,552] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/eval_meta.json b/pnp_v2/pnp_v2/shards/shard_07/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0f80c6c69c9d10d3d9a8dc6346ca75b58f90b8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv" +} diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/results.csv b/pnp_v2/pnp_v2/shards/shard_07/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ab1ca21889db7b54f19b80a195a455d83da92fa2 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/results.csv @@ -0,0 +1,50 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +# 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,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.123605,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.719107,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.698426,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.571412,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.085303,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.614859,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.576357,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.104656,0.0 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.937946,0.0 +latest,Objadecorativebutterfly,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.32133,0.0 +latest,Objadecorativedish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.914921,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.599876,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.10225,0.0 +latest,Objaelectricalsocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.211274,0.0 +latest,Objaelectronicdisplaymodule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.827897,0.0 +latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.874,0.0 +latest,Objafiredepartmentconnection,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.459243,0.0 +latest,Objafoodpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.495448,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.73566,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.54153,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.002879,0.0 +latest,Objaicecreambar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.000328,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.067801,0.0 +latest,Objamarker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.313489,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,169.691018,0.0 +latest,Objamedicinebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.175742,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.813587,0.0 +latest,Objapaymentterminal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.647445,0.0 +latest,Objapopsicle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,39.083426,38.12048 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.640367,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.167625,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.78187,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.592669,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.297656,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.406894,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.097527,0.0 +latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.323597,0.0 +latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.07824,0.0 +latest,Objatoyrifle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.060291,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.483135,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.107969,0.0 +latest,OVERALL,0,46,0.0,0.05,7.55,0,0.0,0.05,7.55,45.660102,35.9505 diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/run_command.sh b/pnp_v2/pnp_v2/shards/shard_07/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..4dba9a563cda6eb1b3e16c66c61a6a5936d10dec --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/shard_07_results.csv b/pnp_v2/pnp_v2/shards/shard_07/submission/shard_07_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ab1ca21889db7b54f19b80a195a455d83da92fa2 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/shard_07_results.csv @@ -0,0 +1,50 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +# 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,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.123605,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.719107,0.0 +latest,Objaartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.698426,0.0 +latest,Objaathleticshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.571412,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaclimbingshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.085303,0.0 +latest,Objacollar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.614859,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.576357,0.0 +latest,Objadecorativearrow,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.104656,0.0 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.937946,0.0 +latest,Objadecorativebutterfly,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.32133,0.0 +latest,Objadecorativedish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.914921,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.599876,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.10225,0.0 +latest,Objaelectricalsocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.211274,0.0 +latest,Objaelectronicdisplaymodule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.827897,0.0 +latest,Objaemergencyradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,124.874,0.0 +latest,Objafiredepartmentconnection,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.459243,0.0 +latest,Objafoodpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.495448,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.73566,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.54153,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.002879,0.0 +latest,Objaicecreambar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.000328,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.067801,0.0 +latest,Objamarker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.313489,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,169.691018,0.0 +latest,Objamedicinebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,107.175742,0.0 +latest,Objaocarina,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.813587,0.0 +latest,Objapaymentterminal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.647445,0.0 +latest,Objapopsicle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,39.083426,38.12048 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.640367,0.0 +latest,Objasandal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.167625,0.0 +latest,Objasculptingtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.78187,0.0 +latest,Objasmartphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.592669,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,71.297656,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.406894,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.097527,0.0 +latest,Objatelegraphkey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.323597,0.0 +latest,Objatoygun,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.07824,0.0 +latest,Objatoyrifle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.060291,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.483135,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.107969,0.0 +latest,OVERALL,0,46,0.0,0.05,7.55,0,0.0,0.05,7.55,45.660102,35.9505 diff --git a/pnp_v2/pnp_v2/shards/shard_07/submission/submission_manifest.json b/pnp_v2/pnp_v2/shards/shard_07/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6dcfea1875b5c27466a49e823f7e32fb60d28350 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/submission/submission_manifest.json @@ -0,0 +1,86 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07", + "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": 0.0, + "success_count": 0.0, + "total_episodes": 46.0, + "avg_episode_length": 449.0, + "oracle_done_rate": 0.0, + "success_rate_pct": 0.0, + "oracle_rate_pct": 0.0 + }, + "stats": { + "total_episodes": 46, + "success_count": 0, + "failure_count": 46, + "success_rate": 0.0, + "avg_episode_length": 449.0, + "min_episode_length": 449, + "max_episode_length": 449, + "num_houses": 41, + "house_success_rates": { + "house_3725": 0.0, + "house_3774": 0.0, + "house_3775": 0.0, + "house_3840": 0.0, + "house_3891": 0.0, + "house_3944": 0.0, + "house_3972": 0.0, + "house_4013": 0.0, + "house_4061": 0.0, + "house_4132": 0.0, + "house_4190": 0.0, + "house_4223": 0.0, + "house_4260": 0.0, + "house_4341": 0.0, + "house_4372": 0.0, + "house_4406": 0.0, + "house_4465": 0.0, + "house_4532": 0.0, + "house_4580": 0.0, + "house_4613": 0.0, + "house_4640": 0.0, + "house_4692": 0.0, + "house_4728": 0.0, + "house_4764": 0.0, + "house_4802": 0.0, + "house_4856": 0.0, + "house_4909": 0.0, + "house_4980": 0.0, + "house_4999": 0.0, + "house_5019": 0.0, + "house_5097": 0.0, + "house_5161": 0.0, + "house_5208": 0.0, + "house_5281": 0.0, + "house_5283": 0.0, + "house_5340": 0.0, + "house_5417": 0.0, + "house_5454": 0.0, + "house_5488": 0.0, + "house_5535": 0.0, + "house_5561": 0.0 + }, + "oracle_done_count": 0, + "oracle_done_rate": 0.0 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/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 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\ No newline at end of file