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results/experiments/rc_closemicrowave_ep000002/CosmosPolicy_StdView/enhanced/request.json

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results/experiments/rc_closemicrowave_ep000002/CosmosPolicy_StdView/enhanced/result.json

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results/experiments/rc_closemicrowave_ep000002/CosmosPolicy_StdView/standard/request.json

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results/experiments/rc_closemicrowave_ep000002/CosmosPolicy_StdView/standard/result.json

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results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/enhanced/logs/exec.log

@@ -1,21 +1,21 @@
-[2026-05-05T13:59:24.196811+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T13:59:24.196837+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/exec --run_key gen --gen_model Hailuo2.3-enhanced
+[2026-05-05T13:59:24.196811+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T13:59:24.196837+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/8a15e57930ca1f0d432cc26f7108bfed20f952ab2c6f20249c9849b32bd26532/source --out_root producer-evidence/8445ff451579dd5fd2fcef30255bd011cbf64fdcdd185a235967bd340ed52724/source --run_key gen --gen_model Hailuo2.3-enhanced
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_215924_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/execution.json
+[exec] log -> producer-evidence/d9fc29064279503e4dbc7d89ab3b277f09a1440fd7184544694ddb90fb3fc06e/source
+[exec] execution config source=producer-evidence/b9853756e926ea9efd0ffb898196758902275bb7d8d35455c126f4fc2416e001/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=141 env_steps=564 failures=141

results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/enhanced/logs/traj.log

@@ -1,42 +1,42 @@
-[2026-05-05T13:55:43.529713+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T13:55:43.529726+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj --gen_model Hailuo2.3-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Hailuo2.3.mp4
+[2026-05-05T13:55:43.529713+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T13:55:43.529726+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/f5b5bcc04f6b77ce5b2af2d935a7db588ecf599e9d9d9e57de42486c46210738/source --output_traj_root producer-evidence/176141dfc711743719651ab108b84f15a2e9dec3b541eba23806b886cfdd067e/source --gen_model Hailuo2.3-enhanced --gen_video_path producer-evidence/690f7db8c169abb9c911a8c15a83e22665a50d039690e9e4cb8fe4639a8dd3bd/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_215544_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/300a78d51d3e1fe09c6d6a541384cd08c8bc9bc7cb08e1a5d45e175b26122242/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Hailuo2.3.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj
+[dataset] input_video=producer-evidence/690f7db8c169abb9c911a8c15a83e22665a50d039690e9e4cb8fe4639a8dd3bd/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/176141dfc711743719651ab108b84f15a2e9dec3b541eba23806b886cfdd067e/source
 [dataset] gen_model=Hailuo2.3-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/tmp/matplotlib is not a writable directory
-Matplotlib created a temporary cache directory at /tmp/matplotlib-ofo8j6m5 because there was an issue with the default path (/tmp/matplotlib); it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/cbc7e1287d2403e3a68e4624562a1378de897804265c4164ab16f4005720b95d/source is not a writable directory
+Matplotlib created a temporary cache directory at producer-evidence/33c817fffc66ff28f3440019df0428bb0c567edb7841a893ddf15e05a36b3f72/source because there was an issue with the default path (producer-evidence/a3adea3ed89d03d84c5877a5389ee2e7fffff4ebab7a75ae6542f82ddd6c3182/source it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/ec09f98246c692d88bf19b26775b99247a650ad939a7421514b34f5d8c2b0a47/source
 [✔] EEF Tracking complete. tracks=(141, 150, 2) vis=(141, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/3d1e13a925b0bfd0cc836e9a32bbc8d89a70ba3f1c15fc2a140ee1ef159fd738/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(141, 80, 2) vis=(141, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/dd80736d48c92f0f2361e3f94c7e70dca034e8eb5b8228f01f341c4382121bf4/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -56,37 +56,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=141 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/66e6bb4516de0400a20faae6bfb33c203cda04a2c01590a397bebde34c1b80c8/source
+[DynamicIR] applied: meta=producer-evidence/9c681edf627b0e067c590bd0b4ad32303df525b84bbdf3e3e94b1359b322b16f/source
+[✔] Saved points trajectory: producer-evidence/ae24ed92e41e235642fc8f0b4c3f79ca4f6f9d87590fa6bb13349d80f87b3d79/source
+[✔] Saved point flow asset: producer-evidence/e7dc1e154ece78750032e36983a58ca6d589364c7c42ebc72b45f5b5ef5df290/source
 [✔] EEF 3D lift done. T=141
 [reproj:eef] inside=384/384 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=141 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=141 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/ee68c83cfe9101cd5a403b11dd4dfaafbd0552acf9b831dd534a27c7fbc073c3/source
+[✔] Saved point flow asset: producer-evidence/a2c023238d10ed0d51bd30aa0b08fdf2f2a851b440517b5254afde37ed1a8f4d/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=141
 [reproj:obj:obj_s1] inside=8600/8600 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/893222be6b2a1461b36c407f5341bd9de173c0ce7c45382d4c129c929ca4e6c1/source
+[✔] Saved point flow asset: producer-evidence/dbac9a52e4cb13d3276f01812f271ad9a3b95cf380903fae48bbedb378ae931b/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/81c7f52a8d3ffef84b4a2dc4008ccba4abcd4555f4d13bf2c65f64e0beab18e9/source
+[✔] Saved point flow asset: producer-evidence/507bd225b2424f55b816a91818e07509fabc0c33695fbd1953dec5fe45799806/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=141 valid=141/141 max_disp_m=0.061223273535203085 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/11d9bfd655df3e8042d1f042dc190caffdb05934141649e4c3aadd91aa54265e/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/63ae822d87ae3688d641170f589824ea248b14c2e50bbfa22c2aead31430cbdc/source
+[✔] Saved EE traj: producer-evidence/9a66c2cff1e56df80b6692b02baeee5f0cfe8e6c29834eb8b1c63dcd3f694631/source
+[✔] Saved task_prior gripper actions: producer-evidence/16a04c4ece61e7eb1a5decc4958d1dbb7c598f1d4f17a2fc1df708338805e422/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/7225d2fbb1ebadff24974849d37ee4afd9b3e1a6f8c821b58d47d72f878bfc31/source
+✅ Multi-trajectory overlay saved: producer-evidence/a35e11f55e68fdf2bf92a3383ceccb4749ab3ebdbb7a1188a75e31bf6c60c59b/source
+✅ Multi-trajectory overlay saved: producer-evidence/40e685f02d3f5961f4978785167b85ab1e5485deff0c04990204fed485c02c45/source
+✅ Multi-trajectory overlay saved: producer-evidence/deb688f63dc657fc8e13a496d282730110bf2ca3ecb45fafe49eb7eecbc12042/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/standard/logs/exec.log

@@ -1,15 +1,15 @@
-[2026-05-05T14:28:58.790151+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T14:28:58.790206+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/exec --run_key gen --gen_model Hailuo2.3
+[2026-05-05T14:28:58.790151+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T14:28:58.790206+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/9a69b1ccb63ad8d2c31dd5705b251fb0c9c0b0a28416effa91553d18b971f119/source --out_root producer-evidence/014472fa0238993951c41cea9dc1c35d9bb34e570e0aa875fcb0501c08952c46/source --run_key gen --gen_model Hailuo2.3
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_222902_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/12364dd1a0adc932b2217825110ad454ef5e17a6c67c696c303ca18b84248bb8/source
+[exec] execution config source=producer-evidence/9a69b1ccb63ad8d2c31dd5705b251fb0c9c0b0a28416effa91553d18b971f119/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists

results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/standard/logs/exec_video_rerun.log

@@ -1,21 +1,21 @@
-[2026-05-05T19:52:26.201398+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T19:52:26.201419+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/pipeline_config/execution.video.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/exec --run_key gen --gen_model Hailuo2.3
+[2026-05-05T19:52:26.201398+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T19:52:26.201419+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/556de7e7a3aad67369bdb6f5f8b50c8a3fe4cd4ec8add39546e49f842312a91c/source --out_root producer-evidence/014472fa0238993951c41cea9dc1c35d9bb34e570e0aa875fcb0501c08952c46/source --run_key gen --gen_model Hailuo2.3
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_035226_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/pipeline_config/execution.video.resolved.json
+[exec] log -> producer-evidence/9f09c251b846351c6dd19c4a6dfa68aeae1c9a502161d1649ac9d7972a3e5bcd/source
+[exec] execution config source=producer-evidence/556de7e7a3aad67369bdb6f5f8b50c8a3fe4cd4ec8add39546e49f842312a91c/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=141 env_steps=195 failures=11

results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/standard/logs/traj.log

@@ -1,40 +1,40 @@
-[2026-05-05T14:25:19.124904+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T14:25:19.124927+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj --gen_model Hailuo2.3 --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Hailuo2.3.mp4
+[2026-05-05T14:25:19.124904+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T14:25:19.124927+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/88ed914c90451a6984b0810cc3c15bdcae50e4ae8f52aa6845df6ebd1f5540ed/source --output_traj_root producer-evidence/17e308ffe39d2acc01875c29630f8c9674c225a5d5ea478e8d1a78e710ea7f5d/source --gen_model Hailuo2.3 --gen_video_path producer-evidence/2289fd35a9cde14e61b7a33ed0acba3f1cd105c691fcad99d3aab7e3d53b0953/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_222526_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/6a3f60b89886cb872f6cf4b085eaeb2fcce648be4bc940a858fda4fcbe3cc86e/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Hailuo2.3.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj
+[dataset] input_video=producer-evidence/2289fd35a9cde14e61b7a33ed0acba3f1cd105c691fcad99d3aab7e3d53b0953/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/17e308ffe39d2acc01875c29630f8c9674c225a5d5ea478e8d1a78e710ea7f5d/source
 [dataset] gen_model=Hailuo2.3
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/a79ae32045b13bfd65335a56f340604a1205ad706891af443879082d21d82f86/source
 [✔] EEF Tracking complete. tracks=(141, 150, 2) vis=(141, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/3b49b7058054c998a8daa37375f3f5db85efd1ffd2409c9b671216be1ca44591/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(141, 80, 2) vis=(141, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/8d9cf59f4783ec282fe79fbc26587da0f7b0c8fb34c3ad371f3eef4a5ec4ee42/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -54,37 +54,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=141 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/e3bf928c815904812e0d00bf1c072c7cb554137e3b5878f36ac4059b3c7b4e0b/source
+[DynamicIR] applied: meta=producer-evidence/ba44b584fc78354a0f1055f0ec7040ab43c981d3b20ae2bcfb3cede1e71dbc43/source
+[✔] Saved points trajectory: producer-evidence/bfae877974c03a75efb18dcd804ca667d8f991a6165627374084efe7f7bde7b5/source
+[✔] Saved point flow asset: producer-evidence/dae9da6160c8db4213230784e84311475b1a55cc38141b204d11f84efe9459a9/source
 [✔] EEF 3D lift done. T=141
 [reproj:eef] inside=2121/2121 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=141 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=141 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/dde845f1b175726e6916453a004c8439f9916d02679b9c03ca71a57f4d7843b1/source
+[✔] Saved point flow asset: producer-evidence/65459c7889f499a911ee04563d53426313b0466df0e5edb92db5d9914c7ee9a4/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=141
 [reproj:obj:obj_s1] inside=8369/8369 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/95cf52b9e13b186d379c1eac8147173555ef37f4f17d1d5deaee1ee99a11fe5c/source
+[✔] Saved point flow asset: producer-evidence/d0fa3ddc851f8086a43504dc5def955d7dad1eaf2288a86f26a88ad6fe6f3ca5/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/da619a9cde579740433328c1ac9f8db9f64963faa2e8ab23d977a02df37b50b7/source
+[✔] Saved point flow asset: producer-evidence/525889800510a3d31b2beecf693ce5ff406ed744f8e20ef5a0011ea77635522a/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=141 valid=141/141 max_disp_m=0.39494743582148595 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Hailuo2.3/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/ded62747c09e3abc14e4155469f151ad7a70f863a39d183d2bd27c64dcce12da/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/c26f659033803e25977302a7b390cf7acf738e8ae0b3d48e14798d9b46b1b676/source
+[✔] Saved EE traj: producer-evidence/e9639cb2a50a9c78c1c759128543127f647472cb964558a61b31a01f26e71848/source
+[✔] Saved task_prior gripper actions: producer-evidence/ad6d9c66e1f0c2bc762dc310a5cdcbc1f44e3c533b297a12e5afae7f36957e7f/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/0dfa20b93c360884dc1613eac5b128f36f8e7a846c15655a735f912dd0987f09/source
+✅ Multi-trajectory overlay saved: producer-evidence/e08a6ceb34545942323ea60d2edba2e3a0edfc0a7b4971def6241833bd4ad08c/source
+✅ Multi-trajectory overlay saved: producer-evidence/7af1bb299043176bf6c9300f814706a143ebb1068fe79e2b4ac0a52366d3582b/source
+✅ Multi-trajectory overlay saved: producer-evidence/e18e4c554df94949008d769263d60f10279e7f1495bf42f9002289f53f40be37/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Hailuo2.3/standard/request.json

@@ -1 +1 @@
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3836e3f03a06f931b1728270e1d7a2d7a573280b1b6d57","size":105806},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"dbc7d269a79878ac8e8e8e7b02bbee2c187d91397e8a4ec6e50a349e42360eaf","size":106786},{"path":"logs/exec.log","sha256":"a281cf399759e8326c59f2da4bbdcb0f92ce03db9b15953884ec5989b23a03f5","size":2665},{"path":"logs/exec_video_rerun.log","sha256":"99f2b44f551927dd15c42934cd1a4a15287457e913feb12094cfa47bb0a4054d","size":3043},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"61d464265df429c1ecc568c14ef7ee9b5237d5f7b7307bcffe792b06594184ba","size":6151},{"path":"logs/traj.log","sha256":"06c2291b81dd4877712679d82fedff50e0d4fbe8df258583ba16d5a1e9348e63","size":8945},{"path":"trajectory/combined.json","sha256":"996f000a6f32d16bfaebd628bd9bda9665d787396e1f8cc8fcc4416e019361dc","size":241288},{"path":"trajectory/eef.json","sha256":"012d1ddbc5b82add26bfd2a2fada5a072eecedf80b2068680354d9093fc8bfbd","size":336527},{"path":"trajectory/gripper.json","sha256":"a74a17da81d060aaa4a97cc5a8c06db434139e68fd709efd73cfb4e21b0e9941","size":27858},{"path":"trajectory/objects.json","sha256":"c35d3b216a387e82ebace5e2575a7ea826f711e55ccc4a7f8366c9ce9085be76","size":314781}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Hailuo2.3","prompt_variant":"standard","reference_id":null,"video_sha256":"99e9d158f433ccec51c481714860394182f34cd2f3859f0d9f6804b5702fd0e0"},"provenance_status":"reconstructed","request_sha256":"03eb047eb5fb8b75905a150c9c77b39ce723f464ae9557924a17d03975c2fa09","resolved_config_sha256":"435d7f1011654cd7d14686729256a804f783e3a1e8ef0bb5565e081777d88e8e","run_id":"benchmark-Hailuo2.3-standard","status":"completed","task_outcome":"failed","uid":"rc_closemicrowave_ep000002"}

results/experiments/rc_closemicrowave_ep000002/Kling3.0/enhanced/logs/exec.log

@@ -1,21 +1,21 @@
-[2026-05-05T13:59:29.911977+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T13:59:29.912008+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/exec --run_key gen --gen_model Kling3.0-enhanced
+[2026-05-05T13:59:29.911977+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T13:59:29.912008+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/114a4ec67c7939c4cf8d83cdad2fa20d4fd5e6423b6bfca943ccbd8ae2cb8538/source --out_root producer-evidence/d7109aa468fdecc3f54df6fbab61aa547fb163daa6b2e0948bb9d5127637e258/source --run_key gen --gen_model Kling3.0-enhanced
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_215930_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/execution.json
+[exec] log -> producer-evidence/95725f9edada4fc02944237061137988b4835070b51ab5d5a2380b48de2130a8/source
+[exec] execution config source=producer-evidence/b9853756e926ea9efd0ffb898196758902275bb7d8d35455c126f4fc2416e001/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=406 failures=55

results/experiments/rc_closemicrowave_ep000002/Kling3.0/enhanced/logs/traj.log

@@ -1,42 +1,42 @@
-[2026-05-05T13:56:17.504313+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T13:56:17.504339+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj --gen_model Kling3.0-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Kling3.0.mp4
+[2026-05-05T13:56:17.504313+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T13:56:17.504339+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/4d5a9c150c1c990cc58f9433f022f1bb5c710d37cdfd6ae6ddfc0c71b71185c0/source --output_traj_root producer-evidence/265f9ce3a1eba486e2f472971f3448e466f1839c803d7cf3b19a167588ad9259/source --gen_model Kling3.0-enhanced --gen_video_path producer-evidence/2e22129c5a45316580ac1bfc7acbee8bda47f59f35b4bedccc4a7aaced204c57/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_215619_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/34b1472aacaba17e1b325702f3bedc8a4965bfa8f0441017fd929bf7b4cb53fc/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Kling3.0.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj
+[dataset] input_video=producer-evidence/2e22129c5a45316580ac1bfc7acbee8bda47f59f35b4bedccc4a7aaced204c57/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/265f9ce3a1eba486e2f472971f3448e466f1839c803d7cf3b19a167588ad9259/source
 [dataset] gen_model=Kling3.0-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/tmp/matplotlib is not a writable directory
-Matplotlib created a temporary cache directory at /tmp/matplotlib-j30d6e8x because there was an issue with the default path (/tmp/matplotlib); it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/cbc7e1287d2403e3a68e4624562a1378de897804265c4164ab16f4005720b95d/source is not a writable directory
+Matplotlib created a temporary cache directory at producer-evidence/49f0b981ad8792a26dd2fe072d836d83e8f5de25a0c68e815f274dd0a36154cb/source because there was an issue with the default path (producer-evidence/a3adea3ed89d03d84c5877a5389ee2e7fffff4ebab7a75ae6542f82ddd6c3182/source it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/da54fa683b0ee9a33812469577b4df6e644b9b05eb01cef198d8e06e9363d10f/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/69948ed1cb76012cf9d9fc65d92bc64a1a50747139f040448cfa7b933dfce68c/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 80, 2) vis=(121, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/863e5f30c3126b19f8dc8424f78e74fd8232a7ea851ec6cac22e50bd658e153e/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -56,37 +56,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=121 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/f87a4e2b6fed72a5503335b3115f9867b5dbdff15a76eb4451b9004475a5b687/source
+[DynamicIR] applied: meta=producer-evidence/47ae5d11ae6ad1a1ae325ea2d31587be695d6a12d8c08337c910c363be150f2f/source
+[✔] Saved points trajectory: producer-evidence/5a7cd0c945e89e763c3e1736f83b85a975a99e8dcc394f7d8a0eb283557350ed/source
+[✔] Saved point flow asset: producer-evidence/488c1aa2483afe9d68c7645df879dd1fd25a7232b4a205f6f28c75a845bfe4eb/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=16780/16780 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=121 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/4eaac04b5ebca2b275a874aae64d64e0d344b3c040ef0102f396d8ae4ccd6549/source
+[✔] Saved point flow asset: producer-evidence/3a642506ec73386ab5212d37b6f73ca6bad3352d01d94cf56f647a34d6592a26/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=8748/8748 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/6c8897456bff0327e3b9586de0494a005f2128228c8f9e3965c1295174d1dc96/source
+[✔] Saved point flow asset: producer-evidence/455889082180d3a3f42761ba8766c4bdde02863935b1e3796bb5230e92b4bf66/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/bf3b347c91c100894c2cecef7a93af859c214f923d9bdfb394b07922192d8b03/source
+[✔] Saved point flow asset: producer-evidence/914cc31faf8dc7288c5cf2a1fe013766868d8430cb50f841923eea8aadde1fdb/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.09256268717720999 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/9ef8a8700451abf13fa7593bfa09c28e2e0e06fc44de8b1c8d2fd42d1ceaf73c/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/4ec6286cd44424f1c53ba5c93045bc5d87dd7e7381f7046d3c071865cc78eb2f/source
+[✔] Saved EE traj: producer-evidence/25a6eb89a136a341550df8c603d669cfb2985f20b114869ec7fd7eaadc0ba191/source
+[✔] Saved task_prior gripper actions: producer-evidence/579030366611c47bb7f4e03e6932bea3fb9557022de078ac20ea161b8a91273c/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/23706b9b36bc964b27f0463d4fe3b79b2a0bddda6861312e856d2740fbb71105/source
+✅ Multi-trajectory overlay saved: producer-evidence/f31a2e9768b3facae8ce77c365cb55576295f76ac64e311855b01cd2eafc90c8/source
+✅ Multi-trajectory overlay saved: producer-evidence/647db4b284108e33edff8f71403bceece890b521bffa1ad98000191e897aeb9d/source
+✅ Multi-trajectory overlay saved: producer-evidence/aacdcb61078bb274b2f6a521bb314e17e0a957708e49e4b7b1f99ed1739782d1/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Kling3.0/enhanced/request.json

@@ -1 +1 @@
-{"case_protocol_sha256":"229a4b4113ce91a348bf7d851a9c30f6f4149c8b698dd3bed3fa51e3a5a980bc","case_sha256":"de20660f8777262b4024c4f296f36de39e958fc1f764605c9ee0197ce05b49f0","format":"dream-exe.result-request","generation_input_sha256":"b6ef496da7479f9f03cc81ef58f42d8cdffd2462a9902c9b9af913822bd7871f","init_sha256":"5d82637dae1e72f02e74c85b3fdd31caefb2c5cdbab3eacdbc8d0d84cf538913","initialization":{"mode":"frozen","receipt_sha256":null},"input":{"kind":"generated","model_id":"Kling3.0","prompt_variant":"enhanced","reference_id":null,"video_sha256":"3f02e7d53f1e65fd20f4dad0f9d092f4f0cd9d1b1181b99825f76c2457129e89"},"input_manifest_sha256":"a2738060aa95c7e1f42267fe808453f93b9b0b25db9c59195b3a15af0a6377c2","packaged_defaults_sha256":{"action":"0232d8c71f6a3865d42793fd8f8aea16591047cac6bbb221dfeeacb9ae6c4c57","evaluation":"70373aba6876bf07aa2135706111c53fcfc5e0bbce24d179997c77cbdb845776","execution":"1e924cb892eaeaa644c513bac5aa9f341e8dbc6f8552ea53cb032e7346c11570","video2traj":"874c9093ad9b8a615ff502e5c358e4120d75e9f1e2218fecfca282b210133492"},"protocol_sha256":{"action":"abe1699771ef6568391bed6f3a9dfd8966d2b9d66c99516ec3be31f54fd2b7c7","evaluation":"65188952058bed058438ba95575238a21c4e3cb41e0e7ba678d09906b73668fc","execution":"c27652db057875f7cfea7747e8e9aaafe8680b49349c436370261f876f358420","generation":"164a380f81faab43588ca0d031cbf7c0998ffbe71962c6cc0ed8d17673bb1143","video2traj":"9014232c42c20f80a9cdc15e814c921e034991e32b9b836f78555b8fb8088662"},"provenance_status":"reconstructed","reference_sha256":"fc3d6db187a87098800108de8e8da48a98f7cd2bb7e7f5f13f8d7bf9b695bc0b","resolved_config_sha256":"3ac9dd564df725bf313f7cb2297046acbae5006e0850483bf63fb4edb32a5214","run_sha256":"91aae6b11b06105a6d0e36055586b33736e04180647e1d077f1e05fc6f2dae40","runtime_config_sha256":null}
+{"case_protocol_sha256":"229a4b4113ce91a348bf7d851a9c30f6f4149c8b698dd3bed3fa51e3a5a980bc","case_sha256":"de20660f8777262b4024c4f296f36de39e958fc1f764605c9ee0197ce05b49f0","format":"dream-exe.result-request","generation_input_sha256":"b6ef496da7479f9f03cc81ef58f42d8cdffd2462a9902c9b9af913822bd7871f","init_sha256":"5d82637dae1e72f02e74c85b3fdd31caefb2c5cdbab3eacdbc8d0d84cf538913","initialization":{"mode":"frozen","receipt_sha256":null},"input":{"kind":"generated","model_id":"Kling3.0","prompt_variant":"enhanced","reference_id":null,"video_sha256":"3f02e7d53f1e65fd20f4dad0f9d092f4f0cd9d1b1181b99825f76c2457129e89"},"input_manifest_sha256":"a2738060aa95c7e1f42267fe808453f93b9b0b25db9c59195b3a15af0a6377c2","packaged_defaults_sha256":{"action":"0232d8c71f6a3865d42793fd8f8aea16591047cac6bbb221dfeeacb9ae6c4c57","evaluation":"70373aba6876bf07aa2135706111c53fcfc5e0bbce24d179997c77cbdb845776","execution":"1e924cb892eaeaa644c513bac5aa9f341e8dbc6f8552ea53cb032e7346c11570","video2traj":"874c9093ad9b8a615ff502e5c358e4120d75e9f1e2218fecfca282b210133492"},"protocol_sha256":{"action":"abe1699771ef6568391bed6f3a9dfd8966d2b9d66c99516ec3be31f54fd2b7c7","evaluation":"65188952058bed058438ba95575238a21c4e3cb41e0e7ba678d09906b73668fc","execution":"c27652db057875f7cfea7747e8e9aaafe8680b49349c436370261f876f358420","generation":"164a380f81faab43588ca0d031cbf7c0998ffbe71962c6cc0ed8d17673bb1143","video2traj":"9014232c42c20f80a9cdc15e814c921e034991e32b9b836f78555b8fb8088662"},"provenance_status":"reconstructed","reference_sha256":"fc3d6db187a87098800108de8e8da48a98f7cd2bb7e7f5f13f8d7bf9b695bc0b","resolved_config_sha256":"3ac9dd564df725bf313f7cb2297046acbae5006e0850483bf63fb4edb32a5214","run_sha256":"de653f35fba1ad7d3946b5b1fca65cfa03b399cf2acf500d0d45c57e5c7beac0","runtime_config_sha256":null}

results/experiments/rc_closemicrowave_ep000002/Kling3.0/enhanced/result.json

@@ -1 +1 @@
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results/experiments/rc_closemicrowave_ep000002/Kling3.0/standard/logs/exec.log

@@ -1,15 +1,15 @@
-[2026-05-05T14:29:00.542242+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T14:29:00.542294+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/exec --run_key gen --gen_model Kling3.0
+[2026-05-05T14:29:00.542242+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T14:29:00.542294+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/029a262736fbd3fd64b0f64fd7994479f0a59be8fd980e4593def149dca4c07e/source --out_root producer-evidence/c0f174663dfa9f540c98e4e4c9703b22435e3da4d9c95abefaf6a8c40db432f9/source --run_key gen --gen_model Kling3.0
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_222904_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/2c7497777d5d0b8c1b807e3b672bfb26e6349a436e3021624f9c1895927d859f/source
+[exec] execution config source=producer-evidence/029a262736fbd3fd64b0f64fd7994479f0a59be8fd980e4593def149dca4c07e/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists

results/experiments/rc_closemicrowave_ep000002/Kling3.0/standard/logs/exec_video_rerun.log

@@ -1,21 +1,21 @@
-[2026-05-05T19:59:48.410015+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T19:59:48.410036+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/pipeline_config/execution.video.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/exec --run_key gen --gen_model Kling3.0
+[2026-05-05T19:59:48.410015+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T19:59:48.410036+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/85e0c772e7de436b855af5e072cdf5f71921a8731edb721d90efc80f8c35aa3d/source --out_root producer-evidence/c0f174663dfa9f540c98e4e4c9703b22435e3da4d9c95abefaf6a8c40db432f9/source --run_key gen --gen_model Kling3.0
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_035950_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/pipeline_config/execution.video.resolved.json
+[exec] log -> producer-evidence/1de51a2bec0ceaf48797e6736c7c4f16def4bafc47ea8514ff9a31e8093ad190/source
+[exec] execution config source=producer-evidence/85e0c772e7de436b855af5e072cdf5f71921a8731edb721d90efc80f8c35aa3d/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=479 failures=116

results/experiments/rc_closemicrowave_ep000002/Kling3.0/standard/logs/traj.log

@@ -1,40 +1,40 @@
-[2026-05-05T14:26:12.368144+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T14:26:12.368168+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj --gen_model Kling3.0 --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Kling3.0.mp4
+[2026-05-05T14:26:12.368144+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T14:26:12.368168+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/84a928faad3f03380239ee0e596a3cfa80d2bf431a612e7b1607e5765e2b9019/source --output_traj_root producer-evidence/9f7d4821012f8e7095117a452fd1350f5bcd3c507202caac9deb153780cf886f/source --gen_model Kling3.0 --gen_video_path producer-evidence/a4c321b4e0e9090b23fd32eb7967df6b6bed07c7d9f7449c48ed527cd300c4d4/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260505_222617_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/999a3f648225ef738daa99a0e77cb9b1360a1f040231175f42c2dff2a235f651/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Kling3.0.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj
+[dataset] input_video=producer-evidence/a4c321b4e0e9090b23fd32eb7967df6b6bed07c7d9f7449c48ed527cd300c4d4/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/9f7d4821012f8e7095117a452fd1350f5bcd3c507202caac9deb153780cf886f/source
 [dataset] gen_model=Kling3.0
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/9280f4a46a71d8f496b6ad18c3dcdcd3b621d547b9038ac2f8fcb7fc8145fcd4/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/b4b3808f66830ad522f8f478332587ad547a96c2cf8eea128e7d274a038329b5/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 80, 2) vis=(121, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/bd66b50e435cbae39b916bb6931459899a1ff731e0fa6800189f512853a490b8/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -54,37 +54,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=121 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/53f62fc7cf51e88abf339bb4826f29af1293d387baa68003c3676d8f976dad53/source
+[DynamicIR] applied: meta=producer-evidence/859e5b5e20e725eb9b640177e54f61531d51aaaf4024e07c1bf5a46823b62d25/source
+[✔] Saved points trajectory: producer-evidence/cd6b831c3d3c86fd6afc7a498a1dbf007aea586dbd9472e97b75adcd4cb5b2ea/source
+[✔] Saved point flow asset: producer-evidence/43c4f7d48c2ea5e16f8911844a449372df9d2c43f7dfdb56bba04cc642205670/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=15751/15751 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=121 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/2a095744f756f8ca7c13fed3db463b1797c39f31db0b9ebc96decb9e1ec3349b/source
+[✔] Saved point flow asset: producer-evidence/5f9345384f3173c56c9902520539e3fe7a99896d358646c236eb6b9743a6ba26/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=6444/6444 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/1efd150f31eb0b3c17e396c1317c6a978e79359d60a8ac0e72f2510e8e8e924a/source
+[✔] Saved point flow asset: producer-evidence/1ba68cdb588fb1a615a4dff2a1e79dc7aa40e74c2362d795eed23a2ea9974e83/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/f7fca018a5a4d62cead67de3259b91ab85bbea45567e517f61392e5e607840d2/source
+[✔] Saved point flow asset: producer-evidence/c24a9820ee4826397a7feae9e839c86ba577edcebf16458968771196a789191d/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.18141833167434152 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Kling3.0/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/b21559ceb8ccfda86b4d54ff9c3a5f2775e6b6c46e3a22f26eda588fa775990d/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/18fe535552039e24741128321d430a4bc2e3733143c1c31ae9854074fa9f6ce6/source
+[✔] Saved EE traj: producer-evidence/191c64cfca9a3f429fe339443e7e8dfa394aff1fe3418782d9389ec40f89cec1/source
+[✔] Saved task_prior gripper actions: producer-evidence/d99153d4807795c0618895cea8cb0b585629dd4e5719e52a29e2870c43b5a758/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/ca85223afb8700568240b51712ad651c312ff5d1eab48837ca385eef5fa46a7e/source
+✅ Multi-trajectory overlay saved: producer-evidence/28e4f11c37c9d5b3c499a7251d1dce1063765d388132c62e481a0f8dc6f4812b/source
+✅ Multi-trajectory overlay saved: producer-evidence/682c877516f5ea6a27bc7b17ea12a89c36b4f89ec53dfbae0e93099356fddd3d/source
+✅ Multi-trajectory overlay saved: producer-evidence/f64ff8826ceee4d91a8f5c7245416e2bd5c8a51be8fd27f063a65f1d67321273/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Kling3.0/standard/request.json

@@ -1 +1 @@
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results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/enhanced/logs/exec.log

@@ -1,21 +1,21 @@
-[2026-05-06T12:45:49.213942+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:45:49.213960+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/exec --run_key gen --gen_model Wan2.2_finetune-enhanced
+[2026-05-06T12:45:49.213942+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:45:49.213960+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/abe2d54b6afc297abe6dee732f4fa33fe90487e22ba135ab2048a2925268c2b1/source --out_root producer-evidence/c07282fbd558b645a9a306b40de28c9a2225d37ebc68c9453231685dab39409d/source --run_key gen --gen_model Wan2.2_finetune-enhanced
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_204549_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/a37b2b20176a5c5361e63065b94388c3251fabf6785dc3e262a688ed123fc372/source
+[exec] execution config source=producer-evidence/abe2d54b6afc297abe6dee732f4fa33fe90487e22ba135ab2048a2925268c2b1/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=81 env_steps=318 failures=73

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/enhanced/logs/traj.log

@@ -1,40 +1,40 @@
-[2026-05-06T11:15:53.250233+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T11:15:53.250250+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj --gen_model Wan2.2_finetune-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Wan2.2_finetune.mp4
+[2026-05-06T11:15:53.250233+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T11:15:53.250250+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/9c20cd7c6a53be8be3fa763d4fc1c37180af0b8fac6154589e0d2713365b4f60/source --output_traj_root producer-evidence/582fea8c8eba12933cf7adf2774f79b19722081bd9c74f62955f7b1c1df885a7/source --gen_model Wan2.2_finetune-enhanced --gen_video_path producer-evidence/1f9d1a472acfc52598eb1b028650b8afd08ab79a587f8e2b0c39fa64a7f3c5aa/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_191554_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/18c597015713ee3de4175f645a5fc286a7f98f1acb1c38cf943d8607d43d4e8d/source
+[traj] pipeline config source=producer-evidence/9c20cd7c6a53be8be3fa763d4fc1c37180af0b8fac6154589e0d2713365b4f60/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen_enhanced/processed/Wan2.2_finetune.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj
+[dataset] input_video=producer-evidence/1f9d1a472acfc52598eb1b028650b8afd08ab79a587f8e2b0c39fa64a7f3c5aa/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/9c20cd7c6a53be8be3fa763d4fc1c37180af0b8fac6154589e0d2713365b4f60/source
+[dataset] output_dir=producer-evidence/582fea8c8eba12933cf7adf2774f79b19722081bd9c74f62955f7b1c1df885a7/source
 [dataset] gen_model=Wan2.2_finetune-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/a14073ed16214d7bf95f5ba19539a4e1c2523ac17a3f895898ed25abd0911506/source
 [✔] EEF Tracking complete. tracks=(81, 150, 2) vis=(81, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/d36b85f632f560ecedd02699b348710c140405928e9b94deef2bb968b6371cd1/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(81, 80, 2) vis=(81, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/28e5e0f25a1e68ab3ee932164e0bb47894a8e53c43fbbaee235b8aff1d5ee362/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -54,37 +54,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=81 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/8e91e3476a4b5ae89598512ba5533ed341a4e27e3d575dd50e09fb7068da5890/source
+[DynamicIR] applied: meta=producer-evidence/3922dcf0b665d36b9bf4a86fc1bb840db6d44aee7ffe76abe064fdedaa30414c/source
+[✔] Saved points trajectory: producer-evidence/54d366a82de662fe2cb2e59719379ecde564936bbf227cdae51899b472993b4f/source
+[✔] Saved point flow asset: producer-evidence/a9af8f3c1d20b659da4fc303d387bebda325e7e45e460b5fd387a4ade170b754/source
 [✔] EEF 3D lift done. T=81
 [reproj:eef] inside=3843/3843 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=81 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=81 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/5a8517d2c425daa6b2932cc58794f4dc0efaa58bb49afd8180215da33b2f0888/source
+[✔] Saved point flow asset: producer-evidence/9a9641df8e6482c4dd5483941f4e842882eaf1c0d9d54726ff3bf385607056bd/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=81
 [reproj:obj:obj_s1] inside=5038/5038 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/c2b68723b4d792637e215d30b0592232fdf3c74e27074904b7386b9cc9d6fe8f/source
+[✔] Saved point flow asset: producer-evidence/a116f05330427819232a0fbc4c8612dbaf6a65b32439ca2433b1c93458cc425d/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/ee1cd4d4f4a4c795a9056f6f3fc0169cb8f568c4ec14274adb1c79b721c851d3/source
+[✔] Saved point flow asset: producer-evidence/70f07e2f1ed71ab943187f3c1a84dcbae84a8ca925d834a37261f0feed073e39/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=81 valid=81/81 max_disp_m=0.28879359582385167 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/0a1675a8b1ed280b90a7ac1f82934b16c912bc0ffe88f5d7b9d317791837e593/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/22d8dd95fd9e92a004b54f1f35ef4e5879d5e18e58d99e4098c1abb81bea8a5f/source
+[✔] Saved EE traj: producer-evidence/2e1695e924b0f33bb107c587006ba36bb9610fe0126afe26e22aa6442be318de/source
+[✔] Saved task_prior gripper actions: producer-evidence/69cb6e81544d8d52d2d199a21878937c6bccd52bc057c9bc4e44f3b87b8db9e8/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/9713f2fd2fd6bfead6670297672772ca4e8172cbc7a913c934a3b326b455b864/source
+✅ Multi-trajectory overlay saved: producer-evidence/fe55b4f0cc587e2129f5cbf36b218845d187dab739401fd80205ae0dbfd24331/source
+✅ Multi-trajectory overlay saved: producer-evidence/e0717d07e00cb255b1092bb2a87d9a78474cbd69981fd418407874eef7f8298d/source
+✅ Multi-trajectory overlay saved: producer-evidence/037392cf025cc961c8d2b98608366cad64bb106ca5bdb60d2416ed3a95808293/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/enhanced/request.json

@@ -1 +1 @@
-{"case_protocol_sha256":"229a4b4113ce91a348bf7d851a9c30f6f4149c8b698dd3bed3fa51e3a5a980bc","case_sha256":"de20660f8777262b4024c4f296f36de39e958fc1f764605c9ee0197ce05b49f0","format":"dream-exe.result-request","generation_input_sha256":"b6ef496da7479f9f03cc81ef58f42d8cdffd2462a9902c9b9af913822bd7871f","init_sha256":"5d82637dae1e72f02e74c85b3fdd31caefb2c5cdbab3eacdbc8d0d84cf538913","initialization":{"mode":"frozen","receipt_sha256":null},"input":{"kind":"generated","model_id":"Wan2.2_finetune_2k","prompt_variant":"enhanced","reference_id":null,"video_sha256":"240ef1f68ee96b6e7c884ec493f77d8768fff546b58a29493431628162061fa9"},"input_manifest_sha256":"f6399e65dccf217c2d45bb1807549f99e1ec432b62a304e245efa16915e37163","packaged_defaults_sha256":{"action":"0232d8c71f6a3865d42793fd8f8aea16591047cac6bbb221dfeeacb9ae6c4c57","evaluation":"70373aba6876bf07aa2135706111c53fcfc5e0bbce24d179997c77cbdb845776","execution":"1e924cb892eaeaa644c513bac5aa9f341e8dbc6f8552ea53cb032e7346c11570","video2traj":"874c9093ad9b8a615ff502e5c358e4120d75e9f1e2218fecfca282b210133492"},"protocol_sha256":{"action":"abe1699771ef6568391bed6f3a9dfd8966d2b9d66c99516ec3be31f54fd2b7c7","evaluation":"65188952058bed058438ba95575238a21c4e3cb41e0e7ba678d09906b73668fc","execution":"c27652db057875f7cfea7747e8e9aaafe8680b49349c436370261f876f358420","generation":"164a380f81faab43588ca0d031cbf7c0998ffbe71962c6cc0ed8d17673bb1143","video2traj":"9014232c42c20f80a9cdc15e814c921e034991e32b9b836f78555b8fb8088662"},"provenance_status":"reconstructed","reference_sha256":"fc3d6db187a87098800108de8e8da48a98f7cd2bb7e7f5f13f8d7bf9b695bc0b","resolved_config_sha256":"d73bc3d52780b5077a007a1f3d827c6ee843268b323d2d87c026ee37b9e93c68","run_sha256":"13652a6de22f6cf001676ea7e5158b240c972061f854796aa4d0251e1bf881fb","runtime_config_sha256":null}
+{"case_protocol_sha256":"229a4b4113ce91a348bf7d851a9c30f6f4149c8b698dd3bed3fa51e3a5a980bc","case_sha256":"de20660f8777262b4024c4f296f36de39e958fc1f764605c9ee0197ce05b49f0","format":"dream-exe.result-request","generation_input_sha256":"b6ef496da7479f9f03cc81ef58f42d8cdffd2462a9902c9b9af913822bd7871f","init_sha256":"5d82637dae1e72f02e74c85b3fdd31caefb2c5cdbab3eacdbc8d0d84cf538913","initialization":{"mode":"frozen","receipt_sha256":null},"input":{"kind":"generated","model_id":"Wan2.2_finetune_2k","prompt_variant":"enhanced","reference_id":null,"video_sha256":"240ef1f68ee96b6e7c884ec493f77d8768fff546b58a29493431628162061fa9"},"input_manifest_sha256":"f6399e65dccf217c2d45bb1807549f99e1ec432b62a304e245efa16915e37163","packaged_defaults_sha256":{"action":"0232d8c71f6a3865d42793fd8f8aea16591047cac6bbb221dfeeacb9ae6c4c57","evaluation":"70373aba6876bf07aa2135706111c53fcfc5e0bbce24d179997c77cbdb845776","execution":"1e924cb892eaeaa644c513bac5aa9f341e8dbc6f8552ea53cb032e7346c11570","video2traj":"874c9093ad9b8a615ff502e5c358e4120d75e9f1e2218fecfca282b210133492"},"protocol_sha256":{"action":"abe1699771ef6568391bed6f3a9dfd8966d2b9d66c99516ec3be31f54fd2b7c7","evaluation":"65188952058bed058438ba95575238a21c4e3cb41e0e7ba678d09906b73668fc","execution":"c27652db057875f7cfea7747e8e9aaafe8680b49349c436370261f876f358420","generation":"164a380f81faab43588ca0d031cbf7c0998ffbe71962c6cc0ed8d17673bb1143","video2traj":"9014232c42c20f80a9cdc15e814c921e034991e32b9b836f78555b8fb8088662"},"provenance_status":"reconstructed","reference_sha256":"fc3d6db187a87098800108de8e8da48a98f7cd2bb7e7f5f13f8d7bf9b695bc0b","resolved_config_sha256":"d73bc3d52780b5077a007a1f3d827c6ee843268b323d2d87c026ee37b9e93c68","run_sha256":"462bca6997312149d79ec17c90c76d46b43bb3b9efde73e349c72b3b095d19df","runtime_config_sha256":null}

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/enhanced/result.json

@@ -1 +1 @@
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14c7740fc2702ebfe11d0cb2371de8df9b20f469b67d","size":101028},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"9bf0e4ad20da8f715f02b51979cd8148076a36a14f4838aad45ddd7c174caa85","size":101233},{"path":"logs/exec.log","sha256":"2dd4b65a454852bbc7dd792d37b57c3298814ba62e963bdf75f9caa65429f3e9","size":3057},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"237283d174fc2403d26952d426c608a9f9cc73aa591d1917340c3c0295667263","size":6160},{"path":"logs/traj.log","sha256":"df6c4009545da7ababe3f5104dce5e32fe59efc7e7a3f586e61151f33d05ee49","size":8964},{"path":"trajectory/combined.json","sha256":"bb5c572c479a1659b90d00548d8cdffe96c4f8866b94500e7e53fc8438997e48","size":139106},{"path":"trajectory/eef.json","sha256":"9bd5cfc2b9bb6be401cb91f6644212474bcea73e337c8ca2f6582917c18a1683","size":203309},{"path":"trajectory/gripper.json","sha256":"64fb5e5003881ff32ece540cf647c853eec3d28bb95bfee8c7e81e418662297d","size":17025},{"path":"trajectory/objects.json","sha256":"d975984aa3ff3d9727b32d3304f82b2667e0a7cb72da4736b464963796bccc85","size":183816}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Wan2.2_finetune_2k","prompt_variant":"enhanced","reference_id":null,"video_sha256":"240ef1f68ee96b6e7c884ec493f77d8768fff546b58a29493431628162061fa9"},"provenance_status":"reconstructed","request_sha256":"e6ad0f7b32f00da782622f1f3873af0db9814ae310a9b9725eb54d3d7d8e8e54","resolved_config_sha256":"d73bc3d52780b5077a007a1f3d827c6ee843268b323d2d87c026ee37b9e93c68","run_id":"benchmark-Wan2.2_finetune_2k-enhanced","status":"completed","task_outcome":"failed","uid":"rc_closemicrowave_ep000002"}

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/standard/logs/exec.log

@@ -1,21 +1,21 @@
-[2026-05-06T12:51:11.557381+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:51:11.557407+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/exec --run_key gen --gen_model Wan2.2_finetune
+[2026-05-06T12:51:11.557381+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:51:11.557407+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/6e4bd64d39294d45eef4769cf448c0fccc1cd77ba595e938a9a2189a424cf3aa/source --out_root producer-evidence/17b972ac531c13fd6dba53b490f4e1022d64fd5fcf12b12a9cacf690807f9ddb/source --run_key gen --gen_model Wan2.2_finetune
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_205118_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/43a6aaef3eb110bb8cfa8a5b67596372dca1181900871066cf54b28a30734600/source
+[exec] execution config source=producer-evidence/6e4bd64d39294d45eef4769cf448c0fccc1cd77ba595e938a9a2189a424cf3aa/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=81 env_steps=298 failures=67

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/standard/logs/traj.log

@@ -1,42 +1,42 @@
-[2026-05-06T12:47:26.478681+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:47:26.478693+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj --gen_model Wan2.2_finetune --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Wan2.2_finetune.mp4
+[2026-05-06T12:47:26.478681+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:47:26.478693+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/5bd2c8dc9117d1385d7f8601e7043691b7c61f53d4251f322641617a20193f1a/source --output_traj_root producer-evidence/a33483af0e9449a639ac2542efe65322ec3660b95a4326f655fbd1b7af481eed/source --gen_model Wan2.2_finetune --gen_video_path producer-evidence/5904e8061560c7af272f398a2f306a26d29deb49bcef6bcfbe24af99a7196609/source
 
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_204727_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/34bcb97f96831e9a522ca01b7c4d0db55c86d5f5d21d7eb56d5680d248fac566/source
+[traj] pipeline config source=producer-evidence/5bd2c8dc9117d1385d7f8601e7043691b7c61f53d4251f322641617a20193f1a/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gen/processed/Wan2.2_finetune.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj
+[dataset] input_video=producer-evidence/5904e8061560c7af272f398a2f306a26d29deb49bcef6bcfbe24af99a7196609/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/5bd2c8dc9117d1385d7f8601e7043691b7c61f53d4251f322641617a20193f1a/source
+[dataset] output_dir=producer-evidence/a33483af0e9449a639ac2542efe65322ec3660b95a4326f655fbd1b7af481eed/source
 [dataset] gen_model=Wan2.2_finetune
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/tmp/matplotlib is not a writable directory
-Matplotlib created a temporary cache directory at /tmp/matplotlib-t6ktj58i because there was an issue with the default path (/tmp/matplotlib); it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/cbc7e1287d2403e3a68e4624562a1378de897804265c4164ab16f4005720b95d/source is not a writable directory
+Matplotlib created a temporary cache directory at producer-evidence/2507c892dc7a4a3837a3f95012a016fb8cee0cefb3b5f894b0f5566440690336/source because there was an issue with the default path (producer-evidence/a3adea3ed89d03d84c5877a5389ee2e7fffff4ebab7a75ae6542f82ddd6c3182/source it is highly recommended to set the MPLCONFIGDIR environment variable to a writable directory, in particular to speed up the import of Matplotlib and to better support multiprocessing.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/5b73a4a5368a90121f64aa37aa335242c8a0d880d6542773592590b2cb775e60/source
 [✔] EEF Tracking complete. tracks=(81, 150, 2) vis=(81, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/5e8bd7c58d1a5aa982315a74265df98b6789c7e1b5436b8e071dcefbe84cf80c/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(81, 80, 2) vis=(81, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/b5bd848d2a929f6396920dac8fc6ecdb5034151de78cd66d3d01b07a7cbb562d/source
 [RANK 0] Detected kernel version 5.4.0, which is below the recommended minimum of 5.5.0; this can cause the process to hang. It is recommended to upgrade the kernel to the minimum version or higher.
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
@@ -56,37 +56,37 @@ Model parameters: 2118921280
 Freezing model vae.
 Model parameters: 126892531
 Merged 300 LoRA layers into base weights.
-[Depth] config: source=/users/rui/kaiming/video2sim/pipeline/trajectory/depth/configs/dvd_lora_single.json requested=dvd_lora_single
+[Depth] config: source=producer-evidence/2963928f9ac72571d7b5c110d0ec86aeac4125962656e75086e2e7268898aab2/source requested=dvd_lora_single
 [Depth] postprocess: None
 [✔] Depth ready. frames=81 size=(512x512)
-[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/38c871bc672962efa1e6886e43205b9c1993a5b77ffc4b39e3e1b87be8097c91/source
+[DynamicIR] applied: meta=producer-evidence/68bcf177a73e91a0adfd67b006e1bcbc339d0cd0dfa12622d672fcca9f3561d4/source
+[✔] Saved points trajectory: producer-evidence/fb62b6847602da75471a993f0d47a72569dd776a4bf40e1cdd1d7980aa403861/source
+[✔] Saved point flow asset: producer-evidence/52b5902b9f936e3a208b163ab251f47823dad1dbb610909305e5571fddd9b403/source
 [✔] EEF 3D lift done. T=81
 [reproj:eef] inside=10116/10116 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=81 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=81 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/98d2428632d234204ced9e461b96f503cc478285fe87ee6a819e65e0fea2abba/source
+[✔] Saved point flow asset: producer-evidence/03d58117f148397f733a41d297d81a3a95292083e8978959474b190ea8905b5a/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=81
 [reproj:obj:obj_s1] inside=5559/5559 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/f3482f7963da42d7538fb7a3c34ae82daf324c7c9579645d13fc1e2098f2768d/source
+[✔] Saved point flow asset: producer-evidence/c7b95291ef4bf22047d84654b779e90526f6e6a9ae15e6d6d3c8c07127f7768b/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/907e7b093b72f5a3952248b8cc9759f4699acc50f9494d19465f5756b01fda86/source
+[✔] Saved point flow asset: producer-evidence/27b50e0daf62b94a389e9a3cca150000d0115c2652741271c74bd432bc9a7bd2/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=81 valid=81/81 max_disp_m=0.27475682378777677 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/cfd585e3e8985398f6b699297814725e5e72c53043b1421c1a99d9823fd1b7f0/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/c018d3a2d6e8f377453ef718b535e5716b6e284a91fe070630c5372972a9e6fc/source
+[✔] Saved EE traj: producer-evidence/3f7f8ad673a38fa5939e5e24cd5fab98d129a0039ff61d4e91bf1bcb8121f230/source
+[✔] Saved task_prior gripper actions: producer-evidence/2bb6e2154e51b597cf66bae3824249e024b3e723b4e8d9ab5fb44fe92f4fac35/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/6016b23bc577569f7c1162ed816b017ed093c69ab68947db4ffdb44f01676704/source
+✅ Multi-trajectory overlay saved: producer-evidence/f3781812c08ec28102287b810ddbbcf58be7a60a651a411212bfd2c135edc949/source
+✅ Multi-trajectory overlay saved: producer-evidence/9808800d8512e2ba262a14b49279d303e9c471354dd2206b41dba3a1ce08fa8d/source
+✅ Multi-trajectory overlay saved: producer-evidence/d755ed94668ebabdda00b2aa014651961ec7091a7ad92d16a2b8513c95c353cc/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/Wan2.2_finetune_2k/standard/request.json

@@ -1 +1 @@
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9b715b406e852cdabe80cdd60515e39790b110f9b65","size":113386},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"952965388b30edf4500b940979cf4af02f0327b80d893a502fbb9145c3b81ccb","size":114507},{"path":"logs/exec.log","sha256":"98647035b817c714da8cc5456c81bc84f33c4fd7ae5dd4ba572a74b0ffe09a62","size":3048},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"c601302e9ce0b3fd5e52906965a4869307317a27b192076324c5e16b2a7d862d","size":6160},{"path":"logs/traj.log","sha256":"1d1961cef212dc8af2e92bf2d0c209ece15974ddced5d483c6de39c190e35401","size":9531},{"path":"trajectory/combined.json","sha256":"12dde17efb5c25057e04b5f9cb9e65f1ec2127c9e1e83bbfbe92b4ca06809b2e","size":139954},{"path":"trajectory/eef.json","sha256":"d3b6209e6a6a23cb0e05b3e304af3987ff8fb5dab5b7dc0fa3536526c6d55b5b","size":215007},{"path":"trajectory/gripper.json","sha256":"f0fc9b0165325ec772598185c3aaa805b2ef84d241e6a515846b166e05328673","size":17029},{"path":"trajectory/objects.json","sha256":"7fbf2b67c0aae28d1e6b4304cb91611a6908ac318ebbf370dbf71cc1d342e822","size":185408}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Wan2.2_finetune_2k","prompt_variant":"standard","reference_id":null,"video_sha256":"56cfbcc95a2b905fcf86e55d8f6cdfbd38ebf154db3408705e06d12f41ce640b"},"provenance_status":"reconstructed","request_sha256":"1785bffd86649dfc44b161720ac4633cd7c1d73b3b30e7ba15f7d16d7ec44fda","resolved_config_sha256":"7f523029bc17f3978603136a4dd044f21df1598cf71b31b7ac31ed2feda45df1","run_id":"benchmark-Wan2.2_finetune_2k-standard","status":"completed","task_outcome":"failed","uid":"rc_closemicrowave_ep000002"}

results/experiments/rc_closemicrowave_ep000002/reference/w_gt_depth/logs/active_rollout_gt_depth_rerun.log

@@ -1,7 +1,7 @@
-[2026-05-06T05:32:39.701996+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T05:32:39.702005+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python scripts/bench/run_benchmark_matrix.py --uid rc_closemicrowave_ep000002 --config_root ./configs --python_bin /users/rui/miniconda3/envs/video2sim/bin/python --run_keys rollout/gt_depth --continue_on_error --force
+[2026-05-06T05:32:39.701996+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T05:32:39.702005+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source scripts/bench/run_benchmark_matrix.py --uid rc_closemicrowave_ep000002 --config_root ./configs --python_bin producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source --run_keys rollout/gt_depth --continue_on_error --force
 
 [benchmark-matrix] traj run_id=rollout__gt_depth
-  /users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj --use_rollout_gt_depth true
+  producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_closemicrowave_ep000002 --pipeline_config_path producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source --output_traj_root producer-evidence/e8b8824ed1e38ca4ea1fbcf98f0a5d4db11e8832f8e04c157d5b19164672bc28/source --use_rollout_gt_depth true
 [benchmark-matrix] exec run_id=rollout__gt_depth
-  /users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/execution.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/exec --run_key rollout/gt_depth
+  producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_closemicrowave_ep000002 --config_root ./configs --execution_config_path producer-evidence/b9853756e926ea9efd0ffb898196758902275bb7d8d35455c126f4fc2416e001/source --out_root producer-evidence/3ef5a90af38ff900142475ae7cd5c13a92d562e03cf5c8bd8c3f99d4c17d0acd/source --run_key rollout/gt_depth

results/experiments/rc_closemicrowave_ep000002/reference/w_gt_depth/logs/exec.log

@@ -1,18 +1,18 @@
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[exec] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_133308_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/execution.json
+[exec] log -> producer-evidence/706f0ed7b852534c871b454e81ffb5a0cc01a8f60b06399d453d404aaa0ef401/source
+[exec] execution config source=producer-evidence/b9853756e926ea9efd0ffb898196758902275bb7d8d35455c126f4fc2416e001/source
 WARNING: mimicgen environments not imported since mimicgen is not installed!
-/users/rui/kaiming/video2sim/modules/dataset/robocasa/robocasa/__init__.py:1015: RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
+producer-evidence/1e4dc69e81555c5fe42959407ac11ad3e281807ca7e83017e4a7edd337660eb1/source RuntimeWarning: RoboCasa expects numpy==2.2.5, but found 2.2.6. Proceeding with the current video2sim environment stack.
   warnings.warn(
 [ROBOCASA][WARN] Skipping stale visualize reference during scene-backed restore: No "site" with name wall_main_1_room_default_site exists
 [ROBOCASA][WARN] Skipping stale update_state reference during scene-backed restore: No "geom" with name fridgefrenchdoor_front_group_1_reg_fridge_drawer0 exists
 [✔] Restored from mujoco_flattened_state (STRICT)
 [✔] Restored camera(scene-backed) → pos=[-0.15671056740543554, -1.6253178797701242, 0.3300000211572419], quat_wxyz=[0.3031090645208279, 0.8949163290455575, -0.26871528262616545, -0.18719443340033387]
 [✔] Verified flattened restore matches saved state (max|diff|=0.000e+00)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
 [✅] exec_action done. uid=rc_closemicrowave_ep000002 exec_mode=action controller=OSC_POSE checkpoints=195 env_steps=682 failures=99

results/experiments/rc_closemicrowave_ep000002/reference/w_gt_depth/logs/traj.log

@@ -1,65 +1,65 @@
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260506_133241_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/4d13a7c68794df2452e33f50594741f242c6a9b0426a65c53f8a7c87434acc13/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gt/video/rollout.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj
+[dataset] input_video=producer-evidence/5b1b80271d4615d0907498e40fac3892ad51ff5364a25ca9fba6106497466559/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/e8b8824ed1e38ca4ea1fbcf98f0a5d4db11e8832f8e04c157d5b19164672bc28/source
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=80
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/4d73ece44e11e1ed311fb0d69c4e0e74385208af1102a2c5721b57a0162f00dd/source
 [✔] EEF Tracking complete. tracks=(195, 150, 2) vis=(195, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/565b0577e177a6b3b5e287fa0d05623061795e16154c8f2dd777f709b765ed5c/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(195, 80, 2) vis=(195, 80)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[✔] Loaded rollout GT depths from /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gt/depth/rollout_depth_metric.npy, shape=(195, 512, 512)
+[✔] Loaded rollout GT depths from producer-evidence/70c6c2363370183428159abc4b3b507dcccac167714202d6ca1419e2b7f35c92/source shape=(195, 512, 512)
 [DepthBase] sanitize=False
 [✔] Depth ready. frames=195 size=(512x512)
 [TargetDepthLift] skipped because depth source is rollout_gt_depth.
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/points_cloud_traj_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/09bbac741e0b282cc6e6f4533c315c84fcb154d84fb5dc23ca5f7d7380209c71/source
+[✔] Saved point flow asset: producer-evidence/8d385d4e007ed9af3c0b60ddbfddafd113564354f2613eeeda81052f38b48b79/source
 [✔] EEF 3D lift done. T=195
 [reproj:eef] inside=25677/25677 | px err: mean=0.00, med=0.00, p95=0.00
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
 [probe] tcp_site='gripper0_right_grip_site', controller_ref_site='gripper0_right_grip_site', same=True
 [pose] config source=builtin:pose/default
 [pose] register mask source=trajectory_region_mask
-[✔] EEF pose estimation complete. frames=195 mesh=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=195 mesh=producer-evidence/06e378f54ead70ff01d20a8e617ef2dfd9e95cb3ec4ecffbb775f96ea51773a8/source
+[✔] Saved points trajectory: producer-evidence/7cb4ebbd38430c227b81406a4ef5b6b0eee4fecfad57774c49e1190fba3357d0/source
+[✔] Saved point flow asset: producer-evidence/52069d40727dd8afa2fb7ee6f4a8e110f6cc318921e8c0c8e5577bc194f4117b/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=195
 [reproj:obj:obj_s1] inside=13850/13850 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/a23b988d4ac054d8392eed4f20e0c05e481764d0f91a749062ba6102475573ab/source
+[✔] Saved point flow asset: producer-evidence/18ed1f4cf0bbee33a8a6767a8cc2d09122edaa26f0e155310039d568d1d30318/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/885b496f53b5721a2684f66ae77d8b592a5a5c39b190ab577014cb93598e76fa/source
+[✔] Saved point flow asset: producer-evidence/ce15c95f2870b63128e26de7c08ad8b9b63fb272b96fb610d9c7ba52011fef48/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=195 valid=195/195 max_disp_m=0.2716362430477949 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/trajectory/ee_traj.json
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/gripper/gripper.json
-[robosuite INFO] Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/gt_depth/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved multi-stage OBJ trajs: producer-evidence/3e40ed6a5fcc55d39e2a6bc68c0cdf8d098883f0268b2adc9441a03ef3712baf/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/954b2dda95df1957a1063b66d9421b76d8a79783035ddcbe611ce97175ba6514/source
+[✔] Saved EE traj: producer-evidence/5b9e6ef2633508d440ffb03b8a72fec9f65bd9d563946bd3273f43d062e5dfdc/source
+[✔] Saved task_prior gripper actions: producer-evidence/69915a64906eacb721043b65c0f5483ef8021019ee5917056b1d1be116533c1c/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+[✔] Saved action payload: producer-evidence/7700bc4e30ac482439055a7e782439343217b0e6a994f7cba7b61bc216d48e82/source
+✅ Multi-trajectory overlay saved: producer-evidence/c3234f65baae6634d41c6a81b28bf0385c2103290a525139065dd634cc819ab6/source
+✅ Multi-trajectory overlay saved: producer-evidence/7db0953b304e55773b1136bd6edd9afb56b1e9efb2e783b8547407ae95c418ab/source
+✅ Multi-trajectory overlay saved: producer-evidence/8a82e8f8de681b6867a6affe48d1d476004d5f6b1d06e00d4c3c4ac7864fd747/source
 ✅ Pipeline completed successfully!

results/experiments/rc_closemicrowave_ep000002/reference/w_gt_depth/result.json

@@ -1 +1 @@
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results/experiments/rc_closemicrowave_ep000002/reference/wo_gt_depth/logs/traj.log

@@ -1,55 +1,55 @@
 [robosuite WARNING] No private macro file found! (macros.py:57)
 [robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
-[robosuite WARNING] To setup, run: python /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] To setup, run: python producer-evidence/0757f1bbc2316d32efd857a48f5e49b64ffd462c91b0e7729338fe27b5908573/source (macros.py:59)
 [robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
 [robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
-[traj] log -> /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/logs/20260504_050430_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
+[traj] log -> producer-evidence/03d36ecb7a3090ad24caee3516c094070b7e054f1c56bc4c2318ee51acc93cfc/source
+[traj] pipeline config source=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
 [traj] compiled stage plan with 1 stage(s): ['s1']
 [traj] compiled object stream plan with 1 object(s): ['obj_s1']
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/cuda/__init__.py:61: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
+producer-evidence/87cadaf44b23f92236b531af02dd0d27839b5cd694d5cc422e80effbc7f162a4/source FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
   import pynvml  # type: ignore[import]
 [dataset] uid=rc_closemicrowave_ep000002
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/gt/video/rollout.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/depth_model/traj
+[dataset] input_video=producer-evidence/5b1b80271d4615d0907498e40fac3892ad51ff5364a25ca9fba6106497466559/source
+[dataset] config_path=producer-evidence/1033026e653a680cc88deda25e6b9b959f70600a1cafc86f44c4f1c71874a2d1/source
+[dataset] pipeline_config_path=producer-evidence/e26e67c94d110a266d18b01fc2a22e23e4399ac3d636bb163d84771ace2e4490/source
+[dataset] output_dir=producer-evidence/f93c6d14278d897ac35a4c0ebf078bd5155318fe79cc2aae4c178ede50babf00/source
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[-0.157 -1.625  0.33 ]
-[region] config source=/users/rui/kaiming/video2sim/pipeline/trajectory/region/configs/default.json
+[region] config source=producer-evidence/8e155c4617644c12530c45b5c713f228b9e70895b92889163a3acb1d1943cdf9/source
 [region] EEF init mask matched ['gripper0_right_right_gripper'] labels=[4]
 [traj] EEF region source=robosuite_init_mask/precomputed_mask bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[208, 256, 257, 300] points=150
 [region] object=obj_s1 stages=['s1'] OBJ init mask matched ['door_obj_main'] labels=[232]
 [traj] object=obj_s1 stages=['s1'] OBJ region source=robosuite_init_mask/precomputed_mask+erosion_fallback bbox_source=robosuite_init_mask sampling=mask_3d_fps bbox=[159, 323, 198, 335] points=50
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/imageio_ffmpeg/_utils.py:5: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+producer-evidence/42238fdc7e07c6eb2cf3edb0a287bd3b4557911ec80d4c9348968cf6fb6b6b9c/source UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
   from pkg_resources import resource_filename
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/depth_model/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/869e01473cbad92e946f6489730935dc4762670ec888414d4354d3f57d26e9dc/source
 [✔] EEF Tracking complete. tracks=(195, 150, 2) vis=(195, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/depth_model/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/8769eb3b34454a49dcda30879da9260022d2a9e222527a518306ddd7909f000e/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(195, 50, 2) vis=(195, 50)
 xFormers not available
 xFormers not available
 xFormers not available
 xFormers not available
-[Depth] force_recompute=True -> ignore saved model depth at /users/rui/kaiming/video2sim/bench/data/rc_closemicrowave_ep000002/artifacts/runs/rollout/depth_model/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/9d4618d1c09188fe22203b75f78fc9d2e0d79d0a035399fef79bc2b02f6daf68/source
 Traceback (most recent call last):
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connection.py", line 198, in _new_conn
+  File "producer-evidence/df765f776283e5c965f6ae134c36cf97aea4bf917c12bbcd388dcaa964b1945e/source", line 198, in _new_conn
     sock = connection.create_connection(
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/util/connection.py", line 85, in create_connection
+  File "producer-evidence/04bb01629f1fea9512a0db892430865a6fe73fc0006de3c85c16f2cd57d01a92/source", line 85, in create_connection
     raise err
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/util/connection.py", line 73, in create_connection
+  File "producer-evidence/04bb01629f1fea9512a0db892430865a6fe73fc0006de3c85c16f2cd57d01a92/source", line 73, in create_connection
     sock.connect(sa)
 ConnectionRefusedError: [Errno 111] Connection refused
 
 The above exception was the direct cause of the following exception:
 
 Traceback (most recent call last):
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connectionpool.py", line 773, in urlopen
+  File "producer-evidence/92f4a2b00dfd38982da5f4033e674d18780f5eb1306c6103d4e0149efa6b2697/source", line 773, in urlopen
     self._prepare_proxy(conn)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connectionpool.py", line 1042, in _prepare_proxy
+  File "producer-evidence/92f4a2b00dfd38982da5f4033e674d18780f5eb1306c6103d4e0149efa6b2697/source", line 1042, in _prepare_proxy
     conn.connect()
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connection.py", line 753, in connect
+  File "producer-evidence/df765f776283e5c965f6ae134c36cf97aea4bf917c12bbcd388dcaa964b1945e/source", line 753, in connect
     self.sock = sock = self._new_conn()
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connection.py", line 213, in _new_conn
+  File "producer-evidence/df765f776283e5c965f6ae134c36cf97aea4bf917c12bbcd388dcaa964b1945e/source", line 213, in _new_conn
     raise NewConnectionError(
 urllib3.exceptions.NewConnectionError: <urllib3.connection.HTTPSConnection object at 0x7fc23b5b6f50>: Failed to establish a new connection: [Errno 111] Connection refused
 
@@ -60,59 +60,59 @@ urllib3.exceptions.ProxyError: ('Unable to connect to proxy', NewConnectionError
 The above exception was the direct cause of the following exception:
 
 Traceback (most recent call last):
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/requests/adapters.py", line 644, in send
+  File "producer-evidence/400166c2d29125b966dfe7f53b7539228a3db49a5a8f68528449f9e4adf5989d/source", line 644, in send
     resp = conn.urlopen(
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/connectionpool.py", line 841, in urlopen
+  File "producer-evidence/92f4a2b00dfd38982da5f4033e674d18780f5eb1306c6103d4e0149efa6b2697/source", line 841, in urlopen
     retries = retries.increment(
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/urllib3/util/retry.py", line 519, in increment
+  File "producer-evidence/05031af7645569d08c6dba73ef19414448edeb41d688d71d126efc40714c1550/source", line 519, in increment
     raise MaxRetryError(_pool, url, reason) from reason  # type: ignore[arg-type]
 urllib3.exceptions.MaxRetryError: HTTPSConnectionPool(host='huggingface.co', port=443): Max retries exceeded with url: /api/models/Wan-AI/Wan2.1-T2V-1.3B/revision/main (Caused by ProxyError('Unable to connect to proxy', NewConnectionError('<urllib3.connection.HTTPSConnection object at 0x7fc23b5b6f50>: Failed to establish a new connection: [Errno 111] Connection refused')))
 
 During handling of the above exception, another exception occurred:
 
 Traceback (most recent call last):
-  File "/users/rui/kaiming/video2sim/pipeline/utils/runlog.py", line 129, in run_logged_stage
+  File "producer-evidence/f9e0fc52ea58c8f5cce79209761dcdaaf09de35a3be106e1d43dcbdfe73a51b1/source", line 129, in run_logged_stage
     runner()
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/extract_traj.py", line 2720, in <lambda>
+  File "producer-evidence/e5a8663857cd76d420f7809cf42b093dc097f8c199ffd39d1f0f0ffee01ff7b1/source", line 2720, in <lambda>
     runner=lambda: run_trajectory(
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/extract_traj.py", line 2707, in run_trajectory
+  File "producer-evidence/e5a8663857cd76d420f7809cf42b093dc097f8c199ffd39d1f0f0ffee01ff7b1/source", line 2707, in run_trajectory
     extraction_pipeline(args)
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/extract_traj.py", line 1264, in extraction_pipeline
+  File "producer-evidence/e5a8663857cd76d420f7809cf42b093dc097f8c199ffd39d1f0f0ffee01ff7b1/source", line 1264, in extraction_pipeline
     depths, depth_source, depth_info, depth_stage_stats = run_depth_pipeline(
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/depth/api.py", line 345, in run_depth_pipeline
+  File "producer-evidence/df7455cffabc0175ca786d1d66e98ef157b3f7366d144eec81713ba0f8378c39/source", line 345, in run_depth_pipeline
     depths, _fps, info, depth_aux = depth_estimator.infer(
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/depth/estimator.py", line 215, in infer
+  File "producer-evidence/9d9f7b0822ba93497a8bbcc4563f454f2bdd81e1c17f522b658834bf15af3a70/source", line 215, in infer
     pred = model.infer(
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/depth/models/dvd.py", line 314, in infer
+  File "producer-evidence/39fec261593074f8418e9e043293821231380281a938c7fef9e9dc4c9e02c504/source", line 314, in infer
     self._load()
-  File "/users/rui/kaiming/video2sim/pipeline/trajectory/depth/models/dvd.py", line 279, in _load
+  File "producer-evidence/39fec261593074f8418e9e043293821231380281a938c7fef9e9dc4c9e02c504/source", line 279, in _load
     model = WanTrainingModule(
-  File "/users/rui/kaiming/video2sim/modules/depth/DVD/examples/wanvideo/model_training/WanTrainingModule.py", line 55, in __init__
+  File "producer-evidence/96dac0ac84ec2d30eb1c3b931ce080561ff4cab2e16831a1c9c3bc88e4b2c824/source", line 55, in __init__
     self.pipe = WanVideoPipeline.from_pretrained(
-  File "/users/rui/kaiming/video2sim/modules/depth/DVD/diffsynth/pipelines/wan_video_new_determine.py", line 635, in from_pretrained
+  File "producer-evidence/2bb017a1ab02a7c18a43ec8c71f8fa9382ededa635c355820067a95925953a9d/source", line 635, in from_pretrained
     model_config.download_if_necessary(
-  File "/users/rui/kaiming/video2sim/modules/depth/DVD/diffsynth/pipelines/wan_video_new_determine.py", line 326, in download_if_necessary
+  File "producer-evidence/2bb017a1ab02a7c18a43ec8c71f8fa9382ededa635c355820067a95925953a9d/source", line 326, in download_if_necessary
     snapshot_download(
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+  File "producer-evidence/90f22adbd019c7f93b686ed97ab95b63c036cfc836f48bda9b3bccc1c077cda2/source", line 114, in _inner_fn
     return fn(*args, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/_snapshot_download.py", line 165, in snapshot_download
+  File "producer-evidence/fa765850e575d2e79170e1ee5776da4f80ad8337f8540616a38370fd0fd4f8ef/source", line 165, in snapshot_download
     repo_info = api.repo_info(repo_id=repo_id, repo_type=repo_type, revision=revision)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+  File "producer-evidence/90f22adbd019c7f93b686ed97ab95b63c036cfc836f48bda9b3bccc1c077cda2/source", line 114, in _inner_fn
     return fn(*args, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 2867, in repo_info
+  File "producer-evidence/c5761c1b09bb532b0ad9aa7ecdbaf5a60324bfacfff0ad3d97da8b9259e6a18b/source", line 2867, in repo_info
     return method(
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+  File "producer-evidence/90f22adbd019c7f93b686ed97ab95b63c036cfc836f48bda9b3bccc1c077cda2/source", line 114, in _inner_fn
     return fn(*args, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 2660, in model_info
+  File "producer-evidence/c5761c1b09bb532b0ad9aa7ecdbaf5a60324bfacfff0ad3d97da8b9259e6a18b/source", line 2660, in model_info
     r = get_session().get(path, headers=headers, timeout=timeout, params=params)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/requests/sessions.py", line 602, in get
+  File "producer-evidence/405a40ee54f3ffcb80ca125e6f68c194500651d5d7655694d0013162e5b0c5d1/source", line 602, in get
     return self.request("GET", url, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/requests/sessions.py", line 589, in request
+  File "producer-evidence/405a40ee54f3ffcb80ca125e6f68c194500651d5d7655694d0013162e5b0c5d1/source", line 589, in request
     resp = self.send(prep, **send_kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/requests/sessions.py", line 703, in send
+  File "producer-evidence/405a40ee54f3ffcb80ca125e6f68c194500651d5d7655694d0013162e5b0c5d1/source", line 703, in send
     r = adapter.send(request, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 96, in send
+  File "producer-evidence/06c1eb9c784c31d242725780aaf91c7cf72265a23be11ca370d892223929e5f9/source", line 96, in send
     return super().send(request, *args, **kwargs)
-  File "/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/requests/adapters.py", line 671, in send
+  File "producer-evidence/400166c2d29125b966dfe7f53b7539228a3db49a5a8f68528449f9e4adf5989d/source", line 671, in send
     raise ProxyError(e, request=request)
 requests.exceptions.ProxyError: (MaxRetryError("HTTPSConnectionPool(host='huggingface.co', port=443): Max retries exceeded with url: /api/models/Wan-AI/Wan2.1-T2V-1.3B/revision/main (Caused by ProxyError('Unable to connect to proxy', NewConnectionError('<urllib3.connection.HTTPSConnection object at 0x7fc23b5b6f50>: Failed to establish a new connection: [Errno 111] Connection refused')))"), '(Request ID: 85648e71-0aa6-47ab-aed3-b0b2575ad353)')

results/experiments/rc_closemicrowave_ep000002/reference/wo_gt_depth/result.json

@@ -1 +1 @@
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