diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_execution_validation.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_execution_validation.json
index 7bbf953afeb243f65f94a946ec5fbc4ac41eb511..ab3afe0c978f72579a524fd45ce05dd6793ddd66 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_execution_validation.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_execution_validation.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_trajectory_executability.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_trajectory_executability.json
index 27bdfa472a4107c38ab25ba69d7c7878c8b7b06d..6f64ed3033ecd504074bdc5f5f3a0d4ca87e80cc 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_trajectory_executability.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/evaluation/cosmos_policy_trajectory_executability.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/request.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/request.json
index 5fdbbb1b2a72ca25995666bfdb9659e99a0e5e58..d439b6c0da37ad60657184c33f1ea73a5c23b83d 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/request.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/result.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/result.json
index 2e5a6e3b63831f18b842d22adb32dd304ecff1a6..3e6c42a92b936e4a2a94e299aa4e612a489bef4b 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/result.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/enhanced/result.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_execution_validation.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_execution_validation.json
index 27aa2c411c812e4968f040673aef6400b5d679b7..c1d275ff8b8a919d9a30a64568681d27d3011081 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_execution_validation.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_execution_validation.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_trajectory_executability.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_trajectory_executability.json
index b7c6b998598c95ef4abed0a654a58a89280db271..f649cac24d65afe75e37aea9ec563a08f803cc9b 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_trajectory_executability.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/evaluation/cosmos_policy_trajectory_executability.json
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index 071434ec68e949ec1181c3caff052dd90c5227f6..e2acc4220f075be02cd1ab43466c6b731f67cd55 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/request.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/result.json b/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/result.json
index fe27422b220a225bd0bad3cd2b7408ef6e38565f..c360cf057e56beb8d848ad77a902492f8e6fc101 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/CosmosPolicy_DIYView/standard/result.json
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3229bc92a791ca94162782b63670d64e8b4fcdd203b3e3475845ce2499","size":597268},{"path":"intermediate/visualization/traj_eef_tcp.mp4","sha256":"fb56117124c6aeb10f0f888f9474acce5b5041543a4b89e943e37cb810fba850","size":597846},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"2fecc26c77e9a861dcd3871bd2ef42eae7bd1110f2634cb48a5b7a85961e7a66","size":603863},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"80527648e8ed828446b417a602db0ace3d41a035d2b1a3bc536491a7635842e5","size":6320},{"path":"trajectory/combined.json","sha256":"3016945ff95722dfd4417f07e8e9dd7dede40e81b5e306301889d45a498d894b","size":676030},{"path":"trajectory/eef.json","sha256":"1ad8afe9e9021a9c83be048e722f621eca39bd148c6276e5a19a5f42b3a43d07","size":947449},{"path":"trajectory/gripper.json","sha256":"d1f43ce2e6420b28aad13aee209eb94e29b3a328d2d0a8f3fc3be96157280ada","size":167306},{"path":"trajectory/objects.json","sha256":"9b9ee2a1592b3aa142d00e44df0070896ab98451a367527f2e460787bad91794","size":869158}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"CosmosPolicy_DIYView","prompt_variant":"standard","reference_id":null,"video_sha256":"65e5e7883018f96ae17a5d71294dc51d1b62523a896b568e5d46133149783042"},"provenance_status":"reconstructed","request_sha256":"e45856585e07d40597d2f3c0996a0a52a4610fd158e4812cd527084cc821c6ca","resolved_config_sha256":"1998e9e5e202113b6845e4ed77413f5076e5797cfc188793d542ddd3656850a6","run_id":"benchmark-CosmosPolicy_DIYView-standard","status":"completed","task_outcome":"failed","uid":"rc_coffeeservemug_ep000020"}
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec.log
index 0c4e82091f8292fb0134ac65e12d6a7fae022264..90638e658af66471b9c6b3d85128813a952b801a 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec.log
@@ -1,15 +1,15 @@
-[2026-05-05T14:35:09.241719+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T14:35:09.241730+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/exec --run_key gen --gen_model Kling3.0-enhanced
+[2026-05-05T14:35:09.241719+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T14:35:09.241730+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/4ea347b7a9f3bb3a53910daa6cc7869d0777b12c27a8ce50783d1319f67a9c7d/source --out_root producer-evidence/88eb61e5b4faa40f1538a1b657f58038de90eeb2bf6c595464a0dbe1580c86b6/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_coffeeservemug_ep000020/logs/20260505_223509_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/617fdc1eaf84ace12f896f92b1f5ef67bd45ca6f22d1f05b5c5de8c498ac17ff/source
+[exec] execution config source=producer-evidence/4ea347b7a9f3bb3a53910daa6cc7869d0777b12c27a8ce50783d1319f67a9c7d/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
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec_video_rerun.log b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec_video_rerun.log
index bce6e5616aafd5e6e1a568ecf7d1125d7c8c5bf1..748b056a95c6d8e2f7c89d3adef2829dee1e8447 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec_video_rerun.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/exec_video_rerun.log
@@ -1,21 +1,21 @@
-[2026-05-05T20:12:18.608723+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T20:12:18.608753+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/execution.video.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/exec --run_key gen --gen_model Kling3.0-enhanced
+[2026-05-05T20:12:18.608723+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T20:12:18.608753+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/ee7e297e576c09ff5d15371bfd2c7770688c35a17513d740c67dff19484c33ff/source --out_root producer-evidence/88eb61e5b4faa40f1538a1b657f58038de90eeb2bf6c595464a0dbe1580c86b6/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_coffeeservemug_ep000020/logs/20260506_041219_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/execution.video.resolved.json
+[exec] log -> producer-evidence/c42fa53a3667ee9d91bea978ed9c65ad53e05c099b9879c495bb92df78d1d5b8/source
+[exec] execution config source=producer-evidence/ee7e297e576c09ff5d15371bfd2c7770688c35a17513d740c67dff19484c33ff/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=480 failures=75
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/traj.log
index b746440ff843cc6b2d9503eae279b84336cbd2c6..a404e7756081121f0bfe71ca5d2b1c234b42d85d 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-05T12:56:27.210059+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T12:56:27.210069+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj --gen_model Kling3.0-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Kling3.0.mp4
+[2026-05-05T12:56:27.210059+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T12:56:27.210069+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/ff218550a7529936f74c0fc3634ba87e7a1e5ca10ca31c5fdaddd2c5e94e34c8/source --output_traj_root producer-evidence/d7fb31907af780f4611336eb04954a06bcdbe8d6424aa9918721b9fef7522854/source --gen_model Kling3.0-enhanced --gen_video_path producer-evidence/bcbdf40fa18ba8880c9dc0f57b227fd1d28764082ff21903b2ea50ba55609eb8/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_coffeeservemug_ep000020/logs/20260505_205628_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/pipeline/trajectory.json
+[traj] log -> producer-evidence/b08275e15aaed2daf6bb82c1f72ffd0ca94ee5360996a3fd4e0ba1e4b7339c9b/source
+[traj] pipeline config source=producer-evidence/33b5c83d1987f7a680a0708c25be9059b8703a9de8863c13ea074767e39ac908/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Kling3.0.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj
+[dataset] input_video=producer-evidence/bcbdf40fa18ba8880c9dc0f57b227fd1d28764082ff21903b2ea50ba55609eb8/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/33b5c83d1987f7a680a0708c25be9059b8703a9de8863c13ea074767e39ac908/source
+[dataset] output_dir=producer-evidence/d7fb31907af780f4611336eb04954a06bcdbe8d6424aa9918721b9fef7522854/source
 [dataset] gen_model=Kling3.0-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[181, 405, 219, 460] 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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/fa6e62726159541ea98a2e45f771e600b6c23f831e30f294d5755b58999d4e89/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/60bfc714e52b604197efeb4ea426670081692dc7eeee7e10a178f33337a92732/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 50, 2) vis=(121, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/9a8a2fa54664d43f6dd12c5a847ac2eb6bedaacb0e9254d959e4b06b190fa862/source
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
         This model is initialized with extra kwargs: {'has_image_input': False, 'patch_size': [1, 2, 2], 'in_dim': 16, 'dim': 1536, 'ffn_dim': 8960, 'freq_dim': 256, 'text_dim': 4096, 'out_dim': 16, 'num_heads': 12, 'num_layers': 30, 'eps': 1e-06}
@@ -63,40 +63,40 @@ 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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/d9eb806da81ecb5ded073801abbd40349c7fea69e40cacd2647fb6008e1d7758/source
+[DynamicIR] applied: meta=producer-evidence/a64c58154bcaee4ae4bbed6b630048b62cab61b3a9aa6a550afcdc34785f6a3c/source
+[✔] Saved points trajectory: producer-evidence/ea933ea55bd6f00c38839d7830716bdbc251b95686c741710e80d577213981e0/source
+[✔] Saved point flow asset: producer-evidence/4573aff3248308b0c21bf52c6a0adc537b911ac313a750cbb51c577d52fa2e27/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=16528/16528 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/c9791763ea1c0cba64521c6e835c8e9735c02f9f3b2e77287451845e5b6166bf/source
+[✔] Saved point flow asset: producer-evidence/2034d8bb9eff99c9289cdd6dd980f75fb1d694adce0a959e94c047b8b10a1c34/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=6050/6050 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/98e6581d9b6705718dd33e34b621b8594894cedf06289027365a08a5f024110d/source
+[✔] Saved point flow asset: producer-evidence/e5f8323c891c642e7c39795b3c19e73634ee88e15f8e2d0e2e56451885d36da4/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/8ee4c637c5e5a40e49c9a95c2b6df43de483430e993fea7873227ac49dc578b6/source
+[✔] Saved point flow asset: producer-evidence/8466714d50441ad4fda53058cacf58dca096e9d54103bc8fa0734a4d161d4085/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.23611690194650076 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/d2713074f1a0c106dddaeb5eda186fcbcfa03e530cedcb0717b59b43fd3af038/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/579a3e9c7d2a926ffad672833f23968b4ab3c4acba39c89bf949046d96e541c5/source
+[✔] Saved EE traj: producer-evidence/1a96bef9debc20435463c078ed9c87ff5a536e5adb85b08a025b78dda4c13268/source
 [gripper][WARN] close shifted later by 1 frame(s) (50->51); close was followed by continued descent (d1 -0.000293 -> 0.000000) (close=51, rebound_t=None, comotion_on=52, close_mean_d1=0.000000)
 [gripper][WARN] open remains 43 frame(s) after plateau_tail=71 (close=None, rebound_t=None, comotion_on=None, close_mean_d1=n/a)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/07ac888fd5c96234049e9dda1ad1ae29de5f979476318435c028a312692cdc23/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/c58c80c4c07a0a734a0fc23c051130db5a099f8793876dcefe8c3299f6a7fefa/source
+✅ Multi-trajectory overlay saved: producer-evidence/3a8e6bc17ceb0c88eadbe9cc34ac0846bf2ccad94ee52ebf1d6d5521fff2a0cd/source
+✅ Multi-trajectory overlay saved: producer-evidence/2be7b3f8ae65612e4d140d30e7e0f41fee56149e52d5a1287279f3add58e8cf7/source
+✅ Multi-trajectory overlay saved: producer-evidence/c06a758873599c1cc4b4db3afbe47ab27e41c3b312314e0ede0942fe865e929e/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/request.json b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/request.json
index 5c8844b9dfd393ad0d8c38219dd90efb2ad56c66..f04c704203618c0891c0986ab04875109a4e4c34 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/request.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/result.json b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/result.json
index 06652618fb2e0724dc822c46e966c45bf4a0ca9a..28eab82ff9f3adb32f735472176783569b3c9175 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/result.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/enhanced/result.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/exec.log
index a796e79cddf39ca8aa75567ac78db89d2e49ca15..27b5c74694bd15f0ac225fe26f3cf7fd1e0e2451 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/exec.log
@@ -1,21 +1,21 @@
-[2026-05-05T12:09:41.807807+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T12:09:41.807851+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/exec --run_key gen --gen_model Kling3.0
+[2026-05-05T12:09:41.807807+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T12:09:41.807851+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/455f2750a4038e9f7395f1cba9e84692c0b73f3fc3be6a3a4b0f0a943dc6121f/source --out_root producer-evidence/21aa55821851dedbbd8eaad8f3d7a31132bb307c989d87b1d983cbd9faea5a33/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_coffeeservemug_ep000020/logs/20260505_200945_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/pipeline/execution.json
+[exec] log -> producer-evidence/ed0cf578e9ae18ba4ce8eaac0fee55efb9d5a1c4119b8c94f703dcb373b956c0/source
+[exec] execution config source=producer-evidence/36eb1ca18e81e9b93363bb633f42833e70902da4da3b566d8e7415e3b4e86358/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=399 failures=23
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/traj.log
index 5d9bcf178ba0dd1e4fe775f98ac5eab394d3ce69..b7988701a172e8b83c601b75ee46f49a051c4498 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-05T12:08:12.035894+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-05T12:08:12.035919+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj --gen_model Kling3.0 --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Kling3.0.mp4
+[2026-05-05T12:08:12.035894+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-05T12:08:12.035919+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/f26980e3b68cd725a5d4b5ab7fbc3a4135df5c6be77ace325c87e1c006fcda16/source --output_traj_root producer-evidence/5034698f6930e9715d2b9c31e5acf43e5a6bbc9acf667f799f95bea5f94f927b/source --gen_model Kling3.0 --gen_video_path producer-evidence/0b525c698b854d11e1435f973ec0f491ebe80b72c20c189774d7d5bb6dc6d221/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_coffeeservemug_ep000020/logs/20260505_200814_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/pipeline/trajectory.json
+[traj] log -> producer-evidence/aa43857db0be8a6b392162286b86c6118d5932f775dc56af9e427add4b3e657f/source
+[traj] pipeline config source=producer-evidence/33b5c83d1987f7a680a0708c25be9059b8703a9de8863c13ea074767e39ac908/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Kling3.0.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/pipeline/trajectory.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj
+[dataset] input_video=producer-evidence/0b525c698b854d11e1435f973ec0f491ebe80b72c20c189774d7d5bb6dc6d221/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/33b5c83d1987f7a680a0708c25be9059b8703a9de8863c13ea074767e39ac908/source
+[dataset] output_dir=producer-evidence/5034698f6930e9715d2b9c31e5acf43e5a6bbc9acf667f799f95bea5f94f927b/source
 [dataset] gen_model=Kling3.0
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[181, 405, 219, 460] 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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/7a2e221592239c2692337ef1e7b8eccb913dc22ff1f28edfb98c3361b05a8cda/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/3136dbb9e3c93f18e2ab0660f2aadb3bd3572de13e6973d5f88032bcb7654d84/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 50, 2) vis=(121, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/84f9719ccedca9afb79a133f9d5343fd3cc57dc399aa9f1298062e961a4da8c3/source
     model_name: wan_video_dit model_class: WanModel
 hash_state_dict_keys(state_dict): 9269f8db9040a9d860eaca435be61814 from civitai
         This model is initialized with extra kwargs: {'has_image_input': False, 'patch_size': [1, 2, 2], 'in_dim': 16, 'dim': 1536, 'ffn_dim': 8960, 'freq_dim': 256, 'text_dim': 4096, 'out_dim': 16, 'num_heads': 12, 'num_layers': 30, 'eps': 1e-06}
@@ -63,39 +63,39 @@ 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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/290d40b30f724c3a9dd8e7c055d97bcb81bb755790a3d1b41368ae16a6862e81/source
+[DynamicIR] applied: meta=producer-evidence/5cd421376eecf9db4fad2bb132d3cb4e5ddcba9fc02187e1339a35c6b5ba74c0/source
+[✔] Saved points trajectory: producer-evidence/73759b858c2d3fbc026973387f4c4ce0731dcf5911576979d7d09973ecf62cc0/source
+[✔] Saved point flow asset: producer-evidence/b5a962ab8a6ee8eba0e02aefc6001015d0953a03437b62c98dea28355eea7975/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=16792/16792 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/357f9d51bd586319ae2622b9ecd410fc0d6e5c4b89528fe31a54008a4d15213b/source
+[✔] Saved point flow asset: producer-evidence/20777e9cafaaf4312388c6d8ad03c1da419ec00ae3544ac70ab88ed20ae2764e/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=5803/5803 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/1a29bad822cfa9a45da06e2e1bb34a80b9eec51249fe5610b1a5ff52e537d582/source
+[✔] Saved point flow asset: producer-evidence/72c772e830e1efdd60c3c034527ec5aca2d8865b5bd22b286f9402624a4ee06c/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/839b7abab438c9d06e560d87d26b2be5d321fe6d9841ef9c0c6abb3f0ba7ee21/source
+[✔] Saved point flow asset: producer-evidence/2f5d8562fe664e937ae55e9adb5c0bdd850964441ab4f704fc839f8a07b9f7e2/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.2548899946095683 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/60bf02b6d38cb0f8ed932964d0321500d3fa6d511865b0afe0d0797d9abb3d57/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/ca3b4d23fb79eea50988916b3d34503561043ebaa13f9d4156d10c0f4e4f5fe7/source
+[✔] Saved EE traj: producer-evidence/a30e179d154b92d651a21a7d6f9250cbdadadeddcf955d1edf814239904ce72c/source
 [gripper][WARN] close shifted later by 4 frame(s) (27->31); close was followed by continued descent (d1 -0.001147 -> -0.000130) (close=31, rebound_t=None, comotion_on=33, close_mean_d1=-0.000130)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Kling3.0/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/89d514ed3e2364da697e7cab19fa2ce3f4086acc2e00a61d3f64eece2fc0ed0e/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/afe0dbc68f59f1d72ed915c0a42199366a121870d29d430ad9ef7294bd136c09/source
+✅ Multi-trajectory overlay saved: producer-evidence/28896d171331a2f7860dc9a57b42005df74883dbe8569608d8593721330931ee/source
+✅ Multi-trajectory overlay saved: producer-evidence/e76a092b45ebd5c45637c73ff29bc689fdf94fed3245124b91b7878c214a5f87/source
+✅ Multi-trajectory overlay saved: producer-evidence/b13cc1f96c26a2412b6469dc030b78fbc000bf7ba50dca94ffdc84e7cb7e20a0/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/request.json b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/request.json
index e99f730f33037fa2eacf4d11f50892a4862e7444..4a78f94c02b838cda217e754f771d212d36890de 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/request.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/result.json b/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/result.json
index ffd8fc7f24f6dd72cc37df60f2e3cb8b71f3dde2..b717aaca55a7e24ad70881926a204146143a2761 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Kling3.0/standard/result.json
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00c05d2fa78c12ec23c1ddeb7bfe2ff26f6d7ccec3b266d783","size":207885},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"d8d17281970e5bce9537fb4ad49868d8dc791094610c8a96c71c3391dc9c6430","size":209016},{"path":"logs/exec.log","sha256":"15fe89c8cb5033de2f17d02ae71ad7c545d40a8893da5dc65554087ec3438adf","size":3034},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"45a6ee8e092863440623b560eb6fabe310c94e22b75e0a307f8af74728070bff","size":6308},{"path":"logs/traj.log","sha256":"6a836920ca66034f9cecd5c78d22b9b9d92e0c7b0193f0be71cb5b888b9b5f57","size":10405},{"path":"trajectory/combined.json","sha256":"a1d97ac3a26008a2a67aaaed54c3fe3a77aacc51d3835aa6d4289023cd10dbc3","size":209888},{"path":"trajectory/eef.json","sha256":"2e6f044928f396c5b5a0cc7ebb8b87edbf6cfa7fb5dda54064fb03b41fb571d3","size":325251},{"path":"trajectory/gripper.json","sha256":"d75d33e627b20a90d68c304d7626e86953e5d33720c4a2e5924a018597cb6547","size":59583},{"path":"trajectory/objects.json","sha256":"354af01fe8e1b950b434adc928a7b7ada9c89637d46c701a81aa476845e15406","size":275739}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Kling3.0","prompt_variant":"standard","reference_id":null,"video_sha256":"74488bac607703e860524bf8859cdebdfcb93869671b57dc11989fdacaa7bd41"},"provenance_status":"reconstructed","request_sha256":"06bc2c55a302588310ba5c0d7727a99ddacc98ef269e57b8ea6ca9f7f84827af","resolved_config_sha256":"6b87ba6d0489582fab26104eef87c5aaf4b1ad28499721135aaf3e0a366d043d","run_id":"benchmark-Kling3.0-standard","status":"completed","task_outcome":"failed","uid":"rc_coffeeservemug_ep000020"}
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/exec.log
index 6826f9b03c9ecd5f7157f7a427c14280cb2a96b7..5b8a3848a54359dd21b03c604abc8749d23e8689 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/exec.log
@@ -1,21 +1,21 @@
-[2026-05-06T12:53:51.067305+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:53:51.067318+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/exec --run_key gen --gen_model Ltx2.3-enhanced
+[2026-05-06T12:53:51.067305+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:53:51.067318+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/2374c0841805675e5df17a487a0314ba58ed62c9a014ee233d62d51a7a452737/source --out_root producer-evidence/68307c473fbe73f09f52367b3a294b27f9e223001b5f114b595b2fd897e1c7ae/source --run_key gen --gen_model Ltx2.3-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_coffeeservemug_ep000020/logs/20260506_205351_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/a940ee66673bf2bc7ad3f5402338041a57d61072acc455469c4b90da6664500d/source
+[exec] execution config source=producer-evidence/2374c0841805675e5df17a487a0314ba58ed62c9a014ee233d62d51a7a452737/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=428 failures=70
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/traj.log
index d3b14fea4818f211b4b454cb658461fbc0c743b1..166fca3a7d989b3a766967856547377f1d600314 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-06T11:28:46.116106+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T11:28:46.116132+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj --gen_model Ltx2.3-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Ltx2.3.mp4
+[2026-05-06T11:28:46.116106+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T11:28:46.116132+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/d9e370ab463770cf45f7b50bb9f209efc339e6fce211de1fadd25a0b0005697c/source --output_traj_root producer-evidence/20624f4074db2514f766a6ad37e39bd71ba8e45ba11441e7a1a01687e034e464/source --gen_model Ltx2.3-enhanced --gen_video_path producer-evidence/077082001848dccb3b769a75b665c201a3bf1a0b95da69478f76357528305d4c/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_coffeeservemug_ep000020/logs/20260506_192935_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/0ac4f84ecb132f217d1879535ba5c23eacbb5dbce9849bc5d92ef1c18843eee3/source
+[traj] pipeline config source=producer-evidence/d9e370ab463770cf45f7b50bb9f209efc339e6fce211de1fadd25a0b0005697c/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Ltx2.3.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj
+[dataset] input_video=producer-evidence/077082001848dccb3b769a75b665c201a3bf1a0b95da69478f76357528305d4c/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/d9e370ab463770cf45f7b50bb9f209efc339e6fce211de1fadd25a0b0005697c/source
+[dataset] output_dir=producer-evidence/20624f4074db2514f766a6ad37e39bd71ba8e45ba11441e7a1a01687e034e464/source
 [dataset] gen_model=Ltx2.3-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[181, 405, 219, 461] 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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/b2f09407238bbafe7957f0c98390b38ea9de51931e0ec6c17fa41921c1b8fac7/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/619a9c59d30bf26cab1a468467d35bbdc0adc14047374bd6e6368035bd9e17bd/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 50, 2) vis=(121, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/7d3d941983d68c126b3df1082d58f8ebd85145b1ae9929ca44844bfd65b356a8/source
 WARNING:accelerate.utils.other:[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
@@ -64,39 +64,39 @@ 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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/fa53d4516850fd09e76103a84dda6e16bdd9bc7568d8d0332cd8df284d8803ca/source
+[DynamicIR] applied: meta=producer-evidence/450d6b7f7d89dbfded2d168db1c97487ce98ef177dcea984d13acb108f39e803/source
+[✔] Saved points trajectory: producer-evidence/a1005cefcc1a1bce9518e73e491884f3410b9d9db71c86547af6fb0756bd6cdd/source
+[✔] Saved point flow asset: producer-evidence/6302fcd452fdbf3ae4541d4cb19cc89da23c2af600dc39ca08cfdeb7c7ebc88f/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=14810/14810 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/64d241514268191b29efb69090e573cf3251c9a8250c9566bcede5b95a6823f7/source
+[✔] Saved point flow asset: producer-evidence/4997c3171efb59f7b57aab252550c2bd5b078564c0d8603ff7891e3aef206bdf/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=5168/5168 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/75103208546195e7803354d258b7feed1971faec61debb36efc6e1697792e001/source
+[✔] Saved point flow asset: producer-evidence/114de82f868c054ee1e7cdefacb2d2946826c153ef30c136a9aab79dbc7fffa8/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/b13c9a7ed06ccdabd23df85ddd7ce05a537c82c0b4e4f1d640d87ac616ec71a2/source
+[✔] Saved point flow asset: producer-evidence/458a743c781c3549302a52bf9f82b4fa6fe24380e83b607c4c965585dc6bcfdb/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.20866369283415012 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/26f569b9025a38bf6ced948ab0d6117a978181542ab6063d35e76642651361a3/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/3ef4a6936227022218be8154b91de6a53ff25eddf9f6e196e64654ec87d9fdf0/source
+[✔] Saved EE traj: producer-evidence/61f9394d8679c598a3cb89ba9a97dbb6f9b5016c96f049fee5b961c33ff0f958/source
 [gripper][WARN] close shifted later by 1 frame(s) (77->78); close was followed by continued descent (d1 -0.000290 -> 0.000287) (close=78, rebound_t=None, comotion_on=78, close_mean_d1=0.000287)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/438f846db433f24191287478181e1223a2ce48a99f46996609024a0ca8cd6d59/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/a378ec6fd16ec250390557595817af6e9ef03bf7b7ac6aa4bb5ccadd5847d524/source
+✅ Multi-trajectory overlay saved: producer-evidence/f04b098d0c6e7d5b5fd2ff1452f5c02afd3427074c0cf63890be234037c5d0c6/source
+✅ Multi-trajectory overlay saved: producer-evidence/1c686b5de12fc42857095cd250fc281ea99dda47eec640db7006fb2733120035/source
+✅ Multi-trajectory overlay saved: producer-evidence/1ce0c9091a3bd31525dcf6de158215b1b5e02c8f4eb0ba52b352dcc9a33a5dde/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/request.json b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/request.json
index 0847aeb0965d3f10c2c427f8be85b1bd51f7d723..c3baaffd403b9f94c338bb469fafef4ab8e465a1 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/request.json
@@ -1 +1 @@
-{"case_protocol_sha256":"af60c0fa192ee9a8ab73ee371cb2d90a82d7a481111f50f1f3c5dca2eb3f38cf","case_sha256":"c07c331db0f209fcd876d224a17c4dc0dea05e45da714bf0163cd9a9ec111fe6","format":"dream-exe.result-request","generation_input_sha256":"b766d88dee525b97638633c1a38ee2336e0801f6a8e6f22f6998d72a83763e0b","init_sha256":"cf2999ffff4951bb1ab4ff2c8d468c054a0d4a5ddf053b2baf528062a3b37829","initialization":{"mode":"frozen","receipt_sha256":null},"input":{"kind":"generated","model_id":"Ltx2.3","prompt_variant":"enhanced","reference_id":null,"video_sha256":"f35ad558f949c236f57e64cc5efc7dd930866f40215d2595d2b789d8f5e3424b"},"input_manifest_sha256":"0c3448c07207915b20b732188b022252616f2213af0c5a5eb6c94f191f00eebf","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":"d2f2bbca9c1a0bd03f07c8fc245ee3fa30c8c8312c8ee0461879a521bd89cf53","resolved_config_sha256":"02f826260c06aba4cd171bc08f3a2f20e160bd65eb74db325bd14e0366b914b4","run_sha256":"d9ae9f66bfe4e598c8997fbc4833a1eb2ec7653b5fd91fe6c806e988a2bbe00d","runtime_config_sha256":null}
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/result.json b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/result.json
index e8e1322a3743182d0a75d50cf089ce3ff613f0d4..6f286db63103f3a6b61d66279305199aa20f8530 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/result.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/enhanced/result.json
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7ab2e9b157a4a7b3b942e669f0c9a99596d1a7207af2f9a22f","size":280561},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"c946f0fe6935bcae183f9176951915eb668c489a9b06e1c01bd25e22d3ecbfc4","size":281484},{"path":"logs/exec.log","sha256":"5eb2e4b522bdf80fae0b8d90d62ea22513dca8539bfa61f0c6a044beded1528e","size":3041},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"d8186ab7dbc35f428ec258c445842b638968cb5c937c69a609ea09be179298a9","size":6306},{"path":"logs/traj.log","sha256":"d0411663bd26150d7d6d5c9ccacab38c8e1b4561cd4db926031c0634b5f46217","size":10648},{"path":"trajectory/combined.json","sha256":"3aa5f4020321627acff0793d1120f03123dbbbb84266b1cfc283d5c86176b791","size":210282},{"path":"trajectory/eef.json","sha256":"c0eb3c4c1b02a5fbbdeff87cc1eebdbfa193639c77f1d92a1d473905d2456205","size":319141},{"path":"trajectory/gripper.json","sha256":"251fadc6fe0aacc3d9e3b6e48116aa56292e9673d82ed59914e14cb365312bb4","size":56176},{"path":"trajectory/objects.json","sha256":"330fc776bf7fcf53ae19515b935cb594991b23d5410989e0b175d14ab43feb6a","size":274900}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Ltx2.3","prompt_variant":"enhanced","reference_id":null,"video_sha256":"f35ad558f949c236f57e64cc5efc7dd930866f40215d2595d2b789d8f5e3424b"},"provenance_status":"reconstructed","request_sha256":"8e2ece930d3e4fde9d25db5a01ecbff350ecdc97b695a47e5f08d222fec11ad6","resolved_config_sha256":"02f826260c06aba4cd171bc08f3a2f20e160bd65eb74db325bd14e0366b914b4","run_id":"benchmark-Ltx2.3-enhanced","status":"completed","task_outcome":"failed","uid":"rc_coffeeservemug_ep000020"}
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/exec.log
index 7583a65e275e48eb6d581d3c39d49f44143684d3..e202bb3ff86a77fe50e04fa9f3a3ce4a05d9c94f 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/exec.log
@@ -1,21 +1,21 @@
-[2026-05-06T12:57:16.630972+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:57:16.630993+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/exec --run_key gen --gen_model Ltx2.3
+[2026-05-06T12:57:16.630972+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:57:16.630993+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/f4ce31d3ccc0e5c786d94baf9eb93aff2714339f8a9eba93354d9e2cdff443d2/source --out_root producer-evidence/3e308a61ce0a964a266a853c6134bd4986e5601ef41f0ae11de954526d64c00a/source --run_key gen --gen_model Ltx2.3
 
 [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_coffeeservemug_ep000020/logs/20260506_205717_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/18ea3939b1c90bdd661c52de6377e3ceaeea133a8d4a45efd1c41771e7024b1e/source
+[exec] execution config source=producer-evidence/f4ce31d3ccc0e5c786d94baf9eb93aff2714339f8a9eba93354d9e2cdff443d2/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=121 env_steps=298 failures=11
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/traj.log
index ba226cd28da9ea3da16bf0568dfcd120d61234ad..ca2e21ae9e0a0ad7097e6580d7e636e4cb4ef48a 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-06T11:32:30.999985+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T11:32:31.000001+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj --gen_model Ltx2.3 --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Ltx2.3.mp4
+[2026-05-06T11:32:30.999985+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T11:32:31.000001+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/21be7efe5c0dc09528e39fd556c1801699f57170b7343a4bcc00b4b2b105557c/source --output_traj_root producer-evidence/6c0ff4e78bb095785c16bfffae7f0e1696af98c60f7c369c1aa27465791a7685/source --gen_model Ltx2.3 --gen_video_path producer-evidence/42e64dd87016b65c18e24af4ba5553068aa4d2ce4a10d013cd463b58433052b6/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_coffeeservemug_ep000020/logs/20260506_193237_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/47448f0a6cdb06997e9f6d80c87e0e7d97343bc413e4e28f9c9453ea861d579a/source
+[traj] pipeline config source=producer-evidence/21be7efe5c0dc09528e39fd556c1801699f57170b7343a4bcc00b4b2b105557c/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Ltx2.3.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj
+[dataset] input_video=producer-evidence/42e64dd87016b65c18e24af4ba5553068aa4d2ce4a10d013cd463b58433052b6/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/21be7efe5c0dc09528e39fd556c1801699f57170b7343a4bcc00b4b2b105557c/source
+[dataset] output_dir=producer-evidence/6c0ff4e78bb095785c16bfffae7f0e1696af98c60f7c369c1aa27465791a7685/source
 [dataset] gen_model=Ltx2.3
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[181, 405, 219, 461] 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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/8fccef54c900194b97d517eeb542d21bb53a96261957a1d465d53ada5bd21a76/source
 [✔] EEF Tracking complete. tracks=(121, 150, 2) vis=(121, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/4ddcf05c8730d380d6a73873396c3b9130a8e717da8a6161f44dc06c0ebaf723/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(121, 50, 2) vis=(121, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/e51632b9e6072155eb7a7261bc22ff51cc6eb80e81537418678e01bb0d883919/source
 WARNING:accelerate.utils.other:[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
@@ -64,39 +64,39 @@ 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_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] applied: meta=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/297fcca9cb8aba1fedd0fcaaf720184da5af06992c2bca7e82609574aee09675/source
+[DynamicIR] applied: meta=producer-evidence/71d6c7c6e6b6429f1cccc0364d10fc2a44fab4a6884c2ab19b516892cca50bd8/source
+[✔] Saved points trajectory: producer-evidence/2e9798ac64624ef8bc5bbe100783c52dde4f4e18baced5a29e1b7f9fe3f0d008/source
+[✔] Saved point flow asset: producer-evidence/2c12a9c20c5a57ba282cd318da02b0ef2a94d0dc0360905969e743ee6246fc88/source
 [✔] EEF 3D lift done. T=121
 [reproj:eef] inside=18150/18150 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/points_cloud_traj_obj_s1.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=121 mesh=producer-evidence/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/58612afc698cc6ce95dacbd7547c2033938ae60bd0b301add173c96e366a18e2/source
+[✔] Saved point flow asset: producer-evidence/16b16ccde1798fc68ffaab8e0c4d48506c9835bfc7ceddccab6b6f6bcad0b7e8/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=121
 [reproj:obj:obj_s1] inside=2308/2308 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/interaction_gripper_obj_s1_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/d99110ee1a264690911f7f21170527a623145bfefed4b70948d0119cde250fec/source
+[✔] Saved point flow asset: producer-evidence/4b4335e71f6e5219b9c11a672f89a6efb219c18b9caed8cd6f7de0db8cdaf831/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/interaction_gripper_obj_s1_obj.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/312493007a119fbb0ab71ef1f3a46a8cf0fd62748e7c416b6a96bc500a9fa39d/source
+[✔] Saved point flow asset: producer-evidence/8294a03e5d823b000f2e4ee573d03d145a342a466a3c127ad5460c9773ec1ca6/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=121 valid=121/121 max_disp_m=0.04186190521867528 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/trajectory/obj_trajs.json
-[✔] Saved union EEF/object trajs for VLM: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/2258de6d0366d90e42841f5d7fb80cad4d612194cd442b4ef4977bf2b835d6e0/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/bef9ced483beacc5404643defaeabf530e11cd844f570afdb5d4dbb0c6ed6bb5/source
+[✔] Saved EE traj: producer-evidence/fd62ec0000f983c4e9f80ffe68ee00cafab7c63b3d0359bfb578a8c046aff1b5/source
 [gripper][WARN] close was followed by continued descent (d1 -0.000138 -> -0.000138) (close=83, rebound_t=None, comotion_on=None, close_mean_d1=-0.000138)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Ltx2.3/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/b6cf531731cdba38724ec52d1f18c45021593f636dda3fe3705d0debe2d5f84e/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/669956edd4f8138b4694f3f2590b703dcd09c3feb3ade51a6206ad598017b632/source
+✅ Multi-trajectory overlay saved: producer-evidence/ec4e04d0ff4e54e236549d0647d821caa7074bcc44446f31834e7203870ebf5b/source
+✅ Multi-trajectory overlay saved: producer-evidence/7376283e0dcd22c96da54436d18de4f31f5a8283dfc6a108d76f1efb5fa9f594/source
+✅ Multi-trajectory overlay saved: producer-evidence/01557144d6e21723038383ca2bc33aa54769cd21e77eca36468b432fc293a20d/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/request.json b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/request.json
index e40781114e5a9cf9aafce4d881e630b2ae8d8069..5a20bda368126270a1cb769c231162216d2e5d61 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/request.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/result.json b/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/result.json
index 1cab3615cf95ee7e801a136dc9f933769ce911c2..77bbd426d381432261801b395d2b322f3f9b562a 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Ltx2.3/standard/result.json
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3db8641b29fae59e63cb96460e9385159fb3739fce6251","size":210093},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"ddc642ec54363612aa4d6bbaeed856ed929d3406818ffd7606ae9b41f856c873","size":209228},{"path":"logs/exec.log","sha256":"d3d608c9c919489e0e594e585680859877d81b00d6ee21120d2c6631d5981893","size":3032},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"4c649e4a4a8fa7a9e9c4113a10dac7936cee94fc804ed3bb3d50d4c6259376b2","size":6306},{"path":"logs/traj.log","sha256":"eb4e1045e06c23c3a15549cf316a28df93e06e802dacf2fef5b56329a711bd85","size":10590},{"path":"trajectory/combined.json","sha256":"3bbd62898dbf55f4b084acbcd70c327c20f5a768de537e4c2224ff0e84df2dfe","size":207594},{"path":"trajectory/eef.json","sha256":"d6310a4475d8a1c1164de5c762ad2ad029a25b274066b7accd543570f78787d8","size":324479},{"path":"trajectory/gripper.json","sha256":"39f231eb0ab8249aef4f41d2feef7873fe2691c7553ac6fe62dc8b14e12cfa2b","size":55375},{"path":"trajectory/objects.json","sha256":"cc673d171b52fa2c6a3f13da3be26a76cc5eed0bb963764d5707ec8ce353ab6a","size":271702}],"completed_stages":["video2traj","action","execution","evaluation"],"format":"dream-exe.result","input":{"kind":"generated","model_id":"Ltx2.3","prompt_variant":"standard","reference_id":null,"video_sha256":"75ea667a0d17ee11ee70e0e32469a75d6b12ed5b029f9f66c8743484f782f81c"},"provenance_status":"reconstructed","request_sha256":"c96e4bc36fb6defe125f6cdef9cd0e1702eb863d905c1b6fb8d0dc24214151b7","resolved_config_sha256":"25ab272e2272971c30bdb3291d6e03008a837b77331c29b9c7a6f0b5d9f499ac","run_id":"benchmark-Ltx2.3-standard","status":"completed","task_outcome":"failed","uid":"rc_coffeeservemug_ep000020"}
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/exec.log
index 04e98ef6091e2d04f9e8f1154cccb431e13a36ba..8e324a78794c6d4bf6d4be8359ef0549319c4872 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/exec.log
@@ -1,21 +1,21 @@
-[2026-05-06T12:53:40.288135+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:53:40.288157+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/exec --run_key gen --gen_model Wan2.2_finetune-enhanced
+[2026-05-06T12:53:40.288135+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:53:40.288157+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/101d627fb53ef16f37c0379976d54477aa185a56e24eab125701e766e6a6466f/source --out_root producer-evidence/3149ef968f1be52d17b33488dd1f21ea65d90f33e699a9488502b44d9e7fe752/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_coffeeservemug_ep000020/logs/20260506_205341_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/7de20c504a2b98a664662a7b44d3cc731c1283495ccfadadcda9828c5c256bb4/source
+[exec] execution config source=producer-evidence/101d627fb53ef16f37c0379976d54477aa185a56e24eab125701e766e6a6466f/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=81 env_steps=267 failures=42
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/traj.log
index ef52a3a4118a44b105ace9de8d4cda4401e29b20..00db3fc6cc417d223c03f3aaffe778dc24a5e372 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-06T11:35:52.539076+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T11:35:52.539100+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj --gen_model Wan2.2_finetune-enhanced --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Wan2.2_finetune.mp4
+[2026-05-06T11:35:52.539076+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T11:35:52.539100+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/a351c2ada6520a84f5b339ad5003e942d0bd1aa20fab00effb3c7063fa1930a5/source --output_traj_root producer-evidence/46cdc35f191bd68d5adfdd04084b1fdf8ac82d614d3ae8d93e602363ad8bdcb3/source --gen_model Wan2.2_finetune-enhanced --gen_video_path producer-evidence/c22dd17a571e5d06a455fcc26830e5a13cf5a1e548d9c7d8ec6d51db8f589915/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_coffeeservemug_ep000020/logs/20260506_193553_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/7fe19f32256314e9d33897783d39090dde047639347e7b8b6dc3a71ff7155a05/source
+[traj] pipeline config source=producer-evidence/a351c2ada6520a84f5b339ad5003e942d0bd1aa20fab00effb3c7063fa1930a5/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen_enhanced/processed/Wan2.2_finetune.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj
+[dataset] input_video=producer-evidence/c22dd17a571e5d06a455fcc26830e5a13cf5a1e548d9c7d8ec6d51db8f589915/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/a351c2ada6520a84f5b339ad5003e942d0bd1aa20fab00effb3c7063fa1930a5/source
+[dataset] output_dir=producer-evidence/46cdc35f191bd68d5adfdd04084b1fdf8ac82d614d3ae8d93e602363ad8bdcb3/source
 [dataset] gen_model=Wan2.2_finetune-enhanced
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[180, 405, 219, 461] 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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/2e0382668200c64e4488dd5430633c8ea62922e1234c3b702e2bfff0062248eb/source
 [✔] EEF Tracking complete. tracks=(81, 150, 2) vis=(81, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/8d4bd9ce28b6e65328863b512da9809a3f98d3ff0763c400f33f931a806b5c3f/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(81, 50, 2) vis=(81, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/54e1f747a69806c538bb952f185092a5128ba3a3f4fcd542f0b2995cc3567605/source
 WARNING:accelerate.utils.other:[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
@@ -64,39 +64,39 @@ 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_coffeeservemug_ep000020/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_coffeeservemug_ep000020/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_coffeeservemug_ep000020/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_coffeeservemug_ep000020/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/7371e9aca50bf934a1125ba30a5a9a01f47fbfbacfd0c78b2eb93a7d0d151339/source
+[DynamicIR] applied: meta=producer-evidence/66ab4de7312b3abd3c23126527f362d3f0b6897dce5cbbb9d72d6a21395ced6b/source
+[✔] Saved points trajectory: producer-evidence/a065eceb46497a90af6b1536abb4adf39546d858d45b9440f19bdcc039db4eba/source
+[✔] Saved point flow asset: producer-evidence/40adde434c902fe3fbfa4c1ea63331f6e6224d9c2c939b5fadef819212a26adb/source
 [✔] EEF 3D lift done. T=81
 [reproj:eef] inside=11111/11111 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/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/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/e3992636dd6309f726302f1ec00daa45a79184633ba76976d06772d06db26ec9/source
+[✔] Saved point flow asset: producer-evidence/6ef33e1ecbb39c2dcb1b6341d5213c86f689b76edb03bc5936911271ef816d0c/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=81
 [reproj:obj:obj_s1] inside=2140/2140 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/f949f3bf89ed3c7457e06c6c8e91d61ea265e512edb7875f51ab5a15b712074b/source
+[✔] Saved point flow asset: producer-evidence/056a5a804a750a26dcdca0def84bfc56a78df9516e3ced3fadce68169d247229/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/e375a10bea842f8ed60e1ddc53bf14f03ba4e3ab282bd5bb1af34d0d684af5aa/source
+[✔] Saved point flow asset: producer-evidence/3faae6e939a575855a49d5a528ae7a5a7831eccfd979d65ca6a47e517c408921/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=81 valid=81/81 max_disp_m=0.25486066327591483 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/40ecdcc09f80de33afed9c4018b09e539b6bf62e4fa01b179c1ad96ce57b6e9a/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/55c72f59d09f9c2dc5d6c128f91dca660c61000be0b8dc089757282cb8fc6f02/source
+[✔] Saved EE traj: producer-evidence/28e6c6afe2d0ba076be5d1f234d2dfc43592bdd3ad4a36eeea26d4734f47726f/source
 [gripper][WARN] close shifted later by 1 frame(s) (17->18); close was followed by continued descent (d1 -0.007078 -> -0.004545) (close=18, rebound_t=None, comotion_on=None, close_mean_d1=-0.004545)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune-enhanced/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/f09a3fc3bd71c1ba7e2ffd13583bff93d5eb6ef775f76c02a221134b6a6b4d2b/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/c617b376ecc1df3f23358850393f724a58304594c8679f07c7ab589b311ea7e5/source
+✅ Multi-trajectory overlay saved: producer-evidence/6415ba73ab7a1882a8e2fd0459bbffb777de0056ec3e0de6cf56ffe24a66470b/source
+✅ Multi-trajectory overlay saved: producer-evidence/325b5ff24888a2cdd66d5ce35136ee7d69c3f857f39887e8f97ed0cab626cd92/source
+✅ Multi-trajectory overlay saved: producer-evidence/280ebc39298cc8cd3145a6b9a1e56156960f8f259b115b103db2cb7a2153f3f7/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/request.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/request.json
index 676ba8239434597d3a92fe1c5f4510471b8941bc..f155726d14d3c1c0806fcf769702fcc3f840e076 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/request.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/result.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/result.json
index ea210a4409c47dd2ef051ccfa50db29e0d0deb91..abba3041cb09c3685c3f6ad75df037933b565253 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/enhanced/result.json
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d1097e23123520ea8e4b58b4be99744aee232f6","size":128104},{"path":"intermediate/visualization/traj_vis_center.mp4","sha256":"bcbed76e032b24a576ec0b874bf916229ef42807133abd021dd95cd2e76b9e6e","size":127913},{"path":"logs/exec.log","sha256":"17d225b8dbf0a0434abf59aba9e38b2ac55a90263806a9d5a255fb793f181535","size":3049},{"path":"logs/pipeline_config/execution.json","sha256":"7b55443cb2ae887126b2591e343d80edc68fbbcc17144f1a0e10f6f276af53b8","size":1424},{"path":"logs/pipeline_config/trajectory.json","sha256":"07f547f241bfbb3e19a2e75436c43165f3ad0ca545aee2ae63ffc54809b074bc","size":6318},{"path":"logs/traj.log","sha256":"2f4d4ee3b98122ae099554c7188c31121f509bdc25afc317b7de4348a34e0dc0","size":10659},{"path":"trajectory/combined.json","sha256":"02e7c178a64e5ea108c42639306bd452d108e1c2783465ca27e56d302157b5e5","size":142056},{"path":"trajectory/eef.json","sha256":"914d16de259a7a8b756f1c72f53a68fd76e1b0ab153dbf993de71024bf2c8851","size":218459},{"path":"trajectory/gripper.json","sha256":"95955b1eff5665cc915f911998717d464f1e6a8a049fbce2ffbc0d5f7ad58f98","size":36673},{"path":"trajectory/objects.json","sha256":"a2d7f90da38345c5cc42cd182011139bc4941a438b80529e71da876045fcc042","size":188931}],"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":"303f23beb6382142d5eafbeff29a99a327a6b72d9b21b41a3b4118552fb1520e"},"provenance_status":"reconstructed","request_sha256":"13af9565515e5080ba0eac1e2e7a0ab907c17ee2c11dc8c85ec1312f244ecc0f","resolved_config_sha256":"53674c8da006f41d25263f092b21107f6bae63a1ebb79dfdccd24b6d604f4f81","run_id":"benchmark-Wan2.2_finetune_2k-enhanced","status":"completed","task_outcome":"failed","uid":"rc_coffeeservemug_ep000020"}
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/exec.log b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/exec.log
index f0d20b5c2a6bce209b758a5010b541d0f214dbd3..e03b85b0885c237e79e6319669453df24a524bf8 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/exec.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/exec.log
@@ -1,21 +1,21 @@
-[2026-05-06T12:53:42.714326+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T12:53:42.714346+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/execution.resolved.json --out_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/exec --run_key gen --gen_model Wan2.2_finetune
+[2026-05-06T12:53:42.714326+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T12:53:42.714346+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.execution.exec_action --uid rc_coffeeservemug_ep000020 --config_root ./configs --execution_config_path producer-evidence/5951da578ed0ed15f0e44dee455f94f96058302f973dd07c73fa8c25a02b2eac/source --out_root producer-evidence/604e81526c4703ecaecc58795c29a4116fa7fa2895140930f9e453d2a016886c/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_coffeeservemug_ep000020/logs/20260506_205343_exec.log
-[exec] execution config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/execution.resolved.json
+[exec] log -> producer-evidence/88fe5c77272f31710a55d3823c1d7f5ca45104392dccf334b4694d1992a6c07e/source
+[exec] execution config source=producer-evidence/5951da578ed0ed15f0e44dee455f94f96058302f973dd07c73fa8c25a02b2eac/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=[1.2568309559694357, -1.2200620023116318, 1.090000018007199], quat_wxyz=[0.583863972657929, 0.7973042447210472, 0.123371890872325, 0.09048855908063146]
 [✔] 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_coffeeservemug_ep000020 exec_mode=action controller=OSC_POSE checkpoints=81 env_steps=254 failures=28
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/traj.log b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/traj.log
index f06f7ce140846c3b42a59b7478f92fe8262daa72..6855dcda16396fdaa8ef7f248945a5e156190f95 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/traj.log
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/logs/traj.log
@@ -1,50 +1,50 @@
-[2026-05-06T11:32:36.680175+00:00] cwd=/users/rui/kaiming/video2sim
-[2026-05-06T11:32:36.680198+00:00] cmd=/users/rui/miniconda3/envs/video2sim/bin/python -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json --output_traj_root /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj --gen_model Wan2.2_finetune --gen_video_path /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Wan2.2_finetune.mp4
+[2026-05-06T11:32:36.680175+00:00] cwd=producer-evidence/56091dc70e2cece0a6a4e04f57aa9061caf5ea2a7a1898e19ec1ac2bcb2ec7cb/source
+[2026-05-06T11:32:36.680198+00:00] cmd=producer-evidence/0ac810101f67642a0f7f51c525e6406f8bcbe39fbb843ca590f1337ced6760be/source -m pipeline.trajectory.extract_traj --uid rc_coffeeservemug_ep000020 --pipeline_config_path producer-evidence/e39ab34e2bdaa01a742773a608ea2fa5c65afcbc7ff469140c9d3f8009026c35/source --output_traj_root producer-evidence/2e4eb60b7501305b46a7b5220c62dc2f4b5ef75178c3283f4bb262975a16ac79/source --gen_model Wan2.2_finetune --gen_video_path producer-evidence/70c409c5a105444ba7bd4a966967c9a1f502ca33ed61d30b0a91c2aba0a00947/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_coffeeservemug_ep000020/logs/20260506_193248_traj.log
-[traj] pipeline config source=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json
+[traj] log -> producer-evidence/3c2a5a15ad7c6084f941578dae836a99a5f282533013d1fcd7b0b4ceb4558686/source
+[traj] pipeline config source=producer-evidence/e39ab34e2bdaa01a742773a608ea2fa5c65afcbc7ff469140c9d3f8009026c35/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_coffeeservemug_ep000020
-[dataset] input_video=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/gen/processed/Wan2.2_finetune.mp4
-[dataset] config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/env/robosuite_config.json
-[dataset] pipeline_config_path=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/pipeline_config/trajectory.resolved.json
-[dataset] output_dir=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj
+[dataset] input_video=producer-evidence/70c409c5a105444ba7bd4a966967c9a1f502ca33ed61d30b0a91c2aba0a00947/source
+[dataset] config_path=producer-evidence/f683295ee1bba89b05b5a0b670d1b0e7fbbfa5b9674a676863805ef19b26a10d/source
+[dataset] pipeline_config_path=producer-evidence/e39ab34e2bdaa01a742773a608ea2fa5c65afcbc7ff469140c9d3f8009026c35/source
+[dataset] output_dir=producer-evidence/2e4eb60b7501305b46a7b5220c62dc2f4b5ef75178c3283f4bb262975a16ac79/source
 [dataset] gen_model=Wan2.2_finetune
 [✔] Camera loaded. size=(512x512) fx=401.84 fy=-401.84 pos=[ 1.257 -1.22   1.09 ]
-[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=[137, 215, 243, 284] points=150
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/ms_deform_attn.py:32: UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
+producer-evidence/990a7fa55971cab32a0e6fefb2e0c61eb92d36442558e29594286b8e587f48a5/source UserWarning: Failed to load custom C++ ops. Falling back to the PyTorch multi-scale deformable attention implementation.
   warnings.warn(
 final text_encoder_type: bert-base-uncased
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/transformers/modeling_utils.py:1621: FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
+producer-evidence/4c2cac22741f33219a892db8c8fed175d55753dd8f60b0a773305b4842488a0f/source FutureWarning: The `device` argument is deprecated and will be removed in v5 of Transformers.
   warnings.warn(
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/_dynamo/eval_frame.py:838: UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
+producer-evidence/dd6b9f05d00fc71f7b41e4014a9e78cd77299b334282c1ac4c69dcc5205ca082/source UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.5 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants.
   return fn(*args, **kwargs)
-/users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/torch/utils/checkpoint.py:86: UserWarning: None of the inputs have requires_grad=True. Gradients will be None
+producer-evidence/133ba7088fd5decde16f792259d126d4b98daa8c479548527b037af0a5d5f882/source UserWarning: None of the inputs have requires_grad=True. Gradients will be None
   warnings.warn(
-/users/rui/kaiming/video2sim/modules/detection/GroundingDINO/groundingdino/models/GroundingDINO/transformer.py:863: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+producer-evidence/0b883bc64364e78d2acec52a0a374a2188b2b3e7eeacbe5bf55c9d99d3d282ac/source FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
   with torch.cuda.amp.autocast(enabled=False):
 [traj] object=obj_s1 stages=['s1'] OBJ region source=grounding_dino/sam2_mask bbox_source=grounding_dino sampling=mask_3d_fps bbox=[180, 405, 219, 461] 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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/tracking/eef_points_cloud.mp4
+Video saved to producer-evidence/b17625bf4aaf6777093bab6f7b333cb17555a95723b7bccc8e2b5ae1c568565b/source
 [✔] EEF Tracking complete. tracks=(81, 150, 2) vis=(81, 150)
-Video saved to /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/tracking/obj_s1_points_cloud.mp4
+Video saved to producer-evidence/247abbb6fe0a5913174af9c6cec735106f8ae7afd1ff656cf03c1dbf8d4bd2cb/source
 [✔] object=obj_s1 stages=['s1'] OBJ Tracking complete. tracks=(81, 50, 2) vis=(81, 50)
 WARNING:dinov2:xFormers not available
 WARNING:dinov2: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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/depth/depth.npy
+[Depth] force_recompute=True -> ignore saved model depth at producer-evidence/d58d94a4f797968b1a8dcb34825cb8ed7c1139169ff4588723b61910d8046398/source
 WARNING:accelerate.utils.other:[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
@@ -64,39 +64,39 @@ 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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/depth_calibration/target_calibration_meta.json
-[DynamicIR] no stage applied; meta=/users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/depth_calibration/dynamic_debug/dynamic_ir_meta.json reason=
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_eef.json
-[✔] Saved point flow asset: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_eef_flow.npz
+[TargetDepthLift] enabled: targets=['eef', 'pair_obj_s1'] meta=producer-evidence/ceebb18cb8da1bb4d5493d2cc287e7eac2609591fad629c036c6b2f27d6eb72c/source
+[DynamicIR] no stage applied; meta=producer-evidence/11202d5f7e480f60fc067c933ca113bc6c58148339c50307be0c21aae6f7fcb4/source reason=
+[✔] Saved points trajectory: producer-evidence/8908414765ca78831bc1d81f864d5cb11f47ec6492c36a410bfaba037b9fbb78/source
+[✔] Saved point flow asset: producer-evidence/8f5c3c38b50b942798c1adac07d26603edf9c173d74d841078249aff716bea48/source
 [✔] EEF 3D lift done. T=81
 [reproj:eef] inside=5347/5347 | 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_coffeeservemug_ep000020/artifacts/init/cad/eef_mesh_visual_only.obj
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/points_cloud_traj_obj_s1_flow.npz
+[✔] EEF pose estimation complete. frames=81 mesh=producer-evidence/0cc1f627526a92fe21e8268378f8db2183aabdfd75cf2ce00d0d1a4787b861e6/source
+[✔] Saved points trajectory: producer-evidence/347664d68e2ce917c698fe2ce16bad312007f8ee6524581cfb73cb37970c50df/source
+[✔] Saved point flow asset: producer-evidence/7af15868f7d3ffa90a53b6a6b4d789e7f0a5581f12f08f0ca49f5676692b1c3c/source
 [✔] object=obj_s1 stages=['s1'] OBJ 3D lift done. T=81
 [reproj:obj:obj_s1] inside=1906/1906 | px err: mean=0.00, med=0.00, p95=0.00
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_eef_flow.npz
+[✔] Saved points trajectory: producer-evidence/74d1cd7f260b6648a8d15fdbc2d4dbc17b1ac73e619041fe9a0edd6504dfcaa3/source
+[✔] Saved point flow asset: producer-evidence/f29f3f18c3722eec932155faedfdea7dc598cf611b147ccab9303b9d99402fc1/source
 [interp] missing centers: 0 → 0 (max_gap=10, fill_ends=False)
-[✔] Saved points trajectory: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/geometry/interaction_gripper_obj_s1_obj_flow.npz
+[✔] Saved points trajectory: producer-evidence/5b7fe051e924c43e1eaa69b5b7588f80d19c3528b0679b29ced60ea564abc7f3/source
+[✔] Saved point flow asset: producer-evidence/ac17fcd48a7f78db64988136c966995a088099b533a05553e14063381985cd88/source
 [traj][object] object_id=obj_s1 stages=['s1'] center_T=81 valid=81/81 max_disp_m=0.03883793915091031 motion_detected=True
-[✔] Saved multi-stage OBJ trajs: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/trajectory/union_traj.json
-[✔] Saved EE traj: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/trajectory/ee_traj.json
+[✔] Saved multi-stage OBJ trajs: producer-evidence/8297553cd7bf8067089cbb1e882a4bf7e68e64cc0b4e88d5483c9c6733feaa34/source
+[✔] Saved union EEF/object trajs for VLM: producer-evidence/5608f48c05b6993aa8df63d27ac52d88d10c2773a6f50f69d1133bba13c6dfd6/source
+[✔] Saved EE traj: producer-evidence/dd011848657d8ce293d4b344a23884ee0d6b6d56a73dcce421312cb31e58a737/source
 [gripper][WARN] close shifted later by 1 frame(s) (26->27); close was followed by continued descent (d1 -0.002725 -> -0.002199) (close=27, rebound_t=None, comotion_on=None, close_mean_d1=-0.002199)
-[✔] Saved task_prior gripper actions: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/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)
-INFO:robosuite_logs:Loading controller configuration from: /users/rui/miniconda3/envs/video2sim/lib/python3.10/site-packages/robosuite/controllers/config/robots/default_pandaomron.json
-[✔] Saved action payload: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/action/action.json
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_vis_center.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_eef_tcp.mp4
-✅ Multi-trajectory overlay saved: /users/rui/kaiming/video2sim/bench/data/rc_coffeeservemug_ep000020/artifacts/runs/gen/Wan2.2_finetune/traj/visualization/traj_eef_ctrl.mp4
+[✔] Saved task_prior gripper actions: producer-evidence/8f6f1ce616785fd049a4a41cf7030a6714258f2f2aa63ec922bd88f7bb1c38fa/source
+[robosuite INFO] Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source (composite_controller_factory.py:121)
+INFO:robosuite_logs:Loading controller configuration from: producer-evidence/e681af91921b38f4fa7d9dc6c3262e95f11a40ba9276895a9c413cd4f9eab17b/source
+[✔] Saved action payload: producer-evidence/43bb76078aadb3846a0fbdabff95d3209b9b20498b43917a727631b0fe9b7bb9/source
+✅ Multi-trajectory overlay saved: producer-evidence/deec0db4ff18867a66cb46a4ede65eada748d6ccc3c08f91be19558eeb8bc688/source
+✅ Multi-trajectory overlay saved: producer-evidence/7edb61a068cc4afa86810a117f1d3774bc128111c09ec3c77ecc727645918bee/source
+✅ Multi-trajectory overlay saved: producer-evidence/90a9d566c711c77dd34b0af4c689e1b1e79db11c6da6730a61ce771bdfbdfa2c/source
 ✅ Pipeline completed successfully!
diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/request.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/request.json
index 2f71a1545e3c38b3e2e0d401404c6b48f81faf9f..1323473dc5ab90403309ea3dc20df8265601a442 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/request.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/request.json
@@ -1 +1 @@
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/result.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/result.json
index 35235090682d9052887714fe5fe9a14a996a000d..14dd6d80337fb1e711f88538469f1b6985300027 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_2k/standard/result.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/enhanced/request.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/enhanced/request.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/enhanced/result.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/enhanced/result.json
index 75e8c42c1921cd263d621be008764fa71dd24fca..f8e78e29ec43fed84b03612aebbf70edf30ca671 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/enhanced/result.json
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diff --git a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/standard/result.json b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/standard/result.json
index 0724b1a515b726b2268e2df641af4733e35830e7..5589bfbf16820da76abef49021f99fa11ea3d820 100644
--- a/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/standard/result.json
+++ b/results/experiments/rc_coffeeservemug_ep000020/Wan2.2_finetune_7k/standard/result.json
@@ -1 +1 @@
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