diff --git a/core/seq_dataset.py b/core/seq_dataset.py
index 1c129bc..7fd50f3 100644
--- a/core/seq_dataset.py
+++ b/core/seq_dataset.py
@@ -48,14 +48,17 @@ class SeqReconstructionDataset(BaseDataset):
             for line in f:
                 scene_name = line.strip()
                 scene_name_list.append(scene_name)
-        return scene_name_list
+        return scene_name_list    
     
     def get_scene_name_list(self):
         return self.scene_name_list
 
+
     def get_datalist(self):
-        datalist = []
-        for scene_name in self.scene_name_list:
+        datalist = []        
+        total = len(self.scene_name_list)
+        for idx, scene_name in enumerate(self.scene_name_list):
+            print(f"processing {scene_name} ({idx}/{total})")
             seq_num = DataLoadUtil.get_label_num(self.root_dir, scene_name)
             scene_max_coverage_rate = 0
             max_coverage_rate_list = []
@@ -178,23 +181,41 @@ class SeqReconstructionDataset(BaseDataset):
 # -------------- Debug ---------------- #
 if __name__ == "__main__":
     import torch
+    from tqdm import tqdm
+    import pickle
+    import os
 
     seed = 0
     torch.manual_seed(seed)
     np.random.seed(seed)
+    
     config = {
         "root_dir": "/data/hofee/data/new_full_data",
         "source": "seq_reconstruction_dataset",
-        "split_file": "/data/hofee/data/sample.txt",
+        "split_file": "/data/hofee/data/new_full_data_list/OmniObject3d_test.txt",
         "load_from_preprocess": True,
-        "ratio": 0.5,
-        "batch_size": 2,
         "filter_degree": 75,
         "num_workers": 0,
-        "pts_num": 4096,
-        "type": namespace.Mode.TRAIN,
+        "pts_num": 8192,
+        "type": namespace.Mode.TEST,
     }
-    ds = SeqReconstructionDataset(config)
-    print(len(ds))
-    print(ds.__getitem__(10))
     
+    output_dir = "/data/hofee/trash_can/output_inference_test"
+    new_output_dir = "/data/hofee/inference_test"
+    os.makedirs(output_dir, exist_ok=True)
+    os.makedirs(new_output_dir, exist_ok=True)
+
+    ds = SeqReconstructionDataset(config)
+    for i in tqdm(range(len(ds)), desc="processing dataset"):
+        output_path = os.path.join(output_dir, f"item_{i}.pkl")
+        if os.path.exists(output_path):
+            item = pickle.load(open(output_path, "rb"))
+        else:
+            item = ds.__getitem__(i)
+        for key, value in item.items():
+            if isinstance(value, np.ndarray):
+                item[key] = value.tolist()
+        new_output_path = os.path.join(new_output_dir, f"item_{i}.pkl")
+        with open(new_output_path, "wb") as f:
+            pickle.dump(item, f)
+
diff --git a/runners/inference_server.py b/runners/inference_server.py
index e71b28b..4ad7ed1 100644
--- a/runners/inference_server.py
+++ b/runners/inference_server.py
@@ -25,6 +25,7 @@ class InferencerServer(Runner):
         self.pipeline:torch.nn.Module = ComponentFactory.create(namespace.Stereotype.PIPELINE, self.pipeline_name)
         self.pipeline = self.pipeline.to(self.device)
         self.pts_num = 8192
+        self.voxel_size = 0.002
             
         ''' Experiment '''
         self.load_experiment("inferencer_server")
@@ -34,8 +35,11 @@ class InferencerServer(Runner):
         scanned_pts = data["scanned_pts"]
         scanned_n_to_world_pose_9d = data["scanned_n_to_world_pose_9d"]
         combined_scanned_views_pts = np.concatenate(scanned_pts, axis=0)
+        voxel_downsampled_combined_scanned_pts = PtsUtil.voxel_downsample_point_cloud(
+            combined_scanned_views_pts, self.voxel_size
+        )
         fps_downsampled_combined_scanned_pts, fps_idx = PtsUtil.fps_downsample_point_cloud(
-            combined_scanned_views_pts, self.pts_num, require_idx=True
+            voxel_downsampled_combined_scanned_pts, self.pts_num, require_idx=True
         )
         # combined_scanned_views_pts_mask = np.zeros(len(scanned_pts), dtype=np.uint8)
         # start_idx = 0