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MODEL_AND_ARTIFACT_INDEX.md

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+# Model And Artifact Index
+
+## Main Code Roots
+
+- `code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/`
+- `code/VLAarchtests2_code/VLAarchtests/tests/`
+
+## Main Prior Handoff Roots
+
+- `artifacts/`
+- `docs/`
+- `legacy/`
+- `setup/`
+
+## Main Current Public Benchmark Roots
+
+- `reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/`
+  - strongest current dense-occlusion result
+- `reports/maniskill_bag_bridge_eval_less_bonus_seed17/`
+- `reports/maniskill_bag_bridge_eval_less_bonus_seed23/`
+- `reports/maniskill_bag_bridge_eval_less_bonus_2seed_manual_summary.json`
+- `reports/maniskill_cloth_bridge_smoke_v1/`
+- `reports/maniskill_cloth_bridge_val_sweep_seed23/`
+
+## Main Current Checkpoint Roots
+
+- `outputs/maniskill_pickclutter_smoke_v5/`
+- `outputs/maniskill_bag_bridge_smoke_v1/`
+- `outputs/maniskill_cloth_bridge_smoke_v1/`
+
+## Main Current Dataset Roots
+
+- `data/maniskill_pickclutter/`
+- `data/maniskill_bridge_retrieval/`
+- `data/reveal_proxy/`
+
+## Main Current Docs
+
+- `docs/maniskill_pickclutter_correction_log_2026-04-01.md`
+- `docs/public_bridge_smoke_run_log_2026-04-01.md`
+- `docs/minimum_sign_of_life_maniskill_pickclutter_run_2026-04-01.md`
+
+## Repo History
+
+- `history/VLAarchtests_previous_README.md`
+- `history/VLAarchtests2_previous_README.md`
+- `history/VLAarchtests3_previous_README.md`

README.md

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+# VLAarchtests4
+
+`VLAarchtests4` is the fresh organization repo for the RunPod work staged from `/workspace` on `2026-04-01 UTC`.
+
+It carries forward the earlier repo lineage and adds the current public-sim benchmark package work:
+
+- `VLAarchtests`
+  - early proxy + RLBench architecture search, handoff checkpoints, and environment recreation files from the `2026-03-25/26` sessions
+- `VLAarchtests2`
+  - larger exploratory organization repo with more baselines, overlap/anchor work, frequent model changes, mixed artifacts, and several results that required later reinterpretation
+- `VLAarchtests3`
+  - cleaned export focused on the elastic-occlusion `trunk + structured adapter + no-op fallback` refactor, validated tests, current checkpoints, and handoff docs
+- `VLAarchtests4`
+  - keeps the `VLAarchtests3` export intact and adds the full current workspace `reports/`, `outputs/`, and `data/` trees, including all public benchmark smoke runs, checkpoint directories, dataset bundles, validation sweeps, and environment snapshots from the public-sim evaluation pass
+
+## What This Repo Adds
+
+The main new addition in this repo is the public benchmark track work for the elastic-occlusion adapter:
+
+- real public-sim smoke runs on:
+  - ManiSkill `PickClutterYCB-v1` as the dense occluded retrieval proxy
+  - ManiSkill bridge basket retrieval proxy as the bag retrieval proxy
+  - ManiSkill bridge cloth retrieval proxy as the folded-cloth retrieval proxy
+- the public benchmark package code and summaries
+- the train/eval logs, checkpoints, cached datasets, validation sweeps, and correction logs for those runs
+- the same-machine environment snapshot for the public benchmark stack used on this RunPod
+
+## Top-Level Contents
+
+- `code/`
+  - the cleaned code snapshot inherited from `VLAarchtests3`
+- `artifacts/`
+  - prior staged checkpoints, proxy data, reports, and generated configs already bundled by `VLAarchtests3`
+- `docs/`
+  - prior handoff/audit docs plus the current public benchmark run logs and correction notes
+- `legacy/`
+  - older exact artifacts preserved by `VLAarchtests3`
+- `setup/`
+  - prior environment files plus a new public benchmark environment snapshot under `setup/public_benchmark/`
+- `history/`
+  - copied README history for `VLAarchtests`, `VLAarchtests2`, and `VLAarchtests3`
+- `reports/`
+  - the full current `/workspace/workspace/reports` tree from this machine
+- `outputs/`
+  - the full current `/workspace/workspace/outputs` tree from this machine
+- `data/`
+  - the full current `/workspace/workspace/data` tree from this machine
+- `PUBLIC_BENCHMARK_RESULTS.md`
+  - compact index of all public benchmark train/eval results from this session
+- `MODEL_AND_ARTIFACT_INDEX.md`
+  - practical map of the main artifact roots to start from
+
+## Architecture State Carried Forward
+
+The core model family inherited from `VLAarchtests3` is still:
+
+- `trunk_only`
+- `adapter_noop`
+- `adapter_active`
+
+The important architectural state carried into the public benchmark work is:
+
+- wrapped-policy interface with exact `trunk_only`, `adapter_noop`, and `adapter_active` modes
+- structured reveal/retrieve adapter with:
+  - state prediction
+  - task-routed proposal families
+  - retrieve-feasibility gating
+  - lightweight transition model
+  - planner/reranker
+- planner fixes that replaced hard vetoes with softer stage penalties in:
+  - `code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/models/planner.py`
+
+## Public Benchmark Summary
+
+Detailed per-run results are in `PUBLIC_BENCHMARK_RESULTS.md`. The short version is:
+
+### 1. Dense occluded retrieval proxy
+
+Benchmark:
+
+- ManiSkill `PickClutterYCB-v1`
+
+Best current held-out result:
+
+- directory:
+  - `reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/`
+- summary:
+  - `trunk_only_ft = 0.04`
+  - `adapter_noop = 0.04`
+  - `adapter_active_ft = 0.62`
+  - `delta_active_vs_trunk = +0.58`
+  - `95% CI = [0.44, 0.72]`
+  - `intervention_rate = 1.0`
+  - `non_base_selection_rate = 1.0`
+
+Important caveat:
+
+- this was not a new retrain after `smoke_v5`
+- it used the same `smoke_v5` checkpoints with planner hyperparameters selected on the frozen validation split and then applied once to the untouched held-out split
+
+### 2. Bag retrieval proxy
+
+Benchmark:
+
+- public ManiSkill bridge basket retrieval proxy
+
+Current fair read:
+
+- seed `17` corrected held-out:
+  - `trunk = 0.32`
+  - `noop = 0.00`
+  - `active = 0.48`
+- seed `23` corrected held-out:
+  - `trunk = 0.48`
+  - `noop = 0.08`
+  - `active = 0.48`
+- corrected 2-seed aggregate:
+  - `trunk = 0.40`
+  - `noop = 0.04`
+  - `active = 0.48`
+  - `delta = +0.08`
+
+Interpretation:
+
+- bag remains modestly positive after using one consistent corrected planner across seeds
+- the effect is smaller and less clean than the best occlusion result
+
+### 3. Cloth retrieval proxy
+
+Benchmark:
+
+- public ManiSkill bridge cloth retrieval proxy
+
+Current read:
+
+- seed `17`:
+  - `trunk = 0.04`
+  - `noop = 0.04`
+  - `active = 0.10`
+- seed `23`:
+  - `trunk = 0.04`
+  - `noop = 0.02`
+  - `active = 0.02`
+- seed `29`:
+  - `trunk = 0.04`
+  - `noop = 0.04`
+  - `active = 0.04`
+- 3-seed aggregate:
+  - `trunk = 0.0400`
+  - `noop = 0.0333`
+  - `active = 0.0533`
+  - `delta = +0.0133`
+
+Interpretation:
+
+- cloth is weak and unstable
+- current evidence does not support a strong cloth-specific win
+
+## Important Fairness Notes
+
+The fairness story is mixed and should be stated plainly.
+
+What is fair in the strongest public benchmark result:
+
+- same initialization checkpoint for `trunk_only_ft` and `adapter_active_ft`
+- same train/val/test split within each task
+- same optimizer, LR, batch size, and unfreeze scope within each task
+- `adapter_noop` is evaluated from the same adapter checkpoint as `adapter_active_ft`
+- the held-out test episodes were not hand-picked after seeing outcomes
+
+What is not fully paper-clean yet:
+
+- most current public benchmark evidence is smoke-scale and low-seed
+- the occlusion headline result depends on validation-selected planner tuning on top of a fixed checkpoint
+- bag required eval-side planner correction for one seed to avoid a collapse
+- cloth remains weak even after additional seeds and val sweeps
+
+### PickClutter Split Fairness
+
+The important point for the dense-occlusion track is that the dataset split did not drift across the early smoke versions.
+
+- `data/maniskill_pickclutter/smoke_v1/episode_splits.json`
+- `data/maniskill_pickclutter/smoke_v2/episode_splits.json`
+- `data/maniskill_pickclutter/smoke_v3/episode_splits.json`
+
+These files contain the same episode ids:
+
+- train: `170000..170031`
+- val: `171000..171007`
+- eval: `172000..172049`
+
+Also:
+
+- there is no `data/maniskill_pickclutter/smoke_v4/`
+- there is no `data/maniskill_pickclutter/smoke_v5/`
+
+`smoke_v4` and `smoke_v5` were code/report version labels, not new held-out episode bundles.
+
+### What Changed Across PickClutter Versions
+
+The big changes across `smoke_v2`, `smoke_v3`, `smoke_v4`, and `smoke_v5` were:
+
+- more benchmark-derived state supervision
+- transition-model training enablement
+- planner bug fixes
+- fairness fixes so the adapter checkpoint did not hide a stronger shared trunk
+- then a frozen-validation planner sweep for the final held-out eval
+
+The big occlusion win was not caused by changing the eval episodes.
+
+## Crucial Caveats
+
+### Occlusion result was planner-tuned
+
+The large jump in:
+
+- `reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/`
+
+came from validation-selected planner tuning on top of the same `smoke_v5` checkpoint.
+
+The selected override values were:
+
+- `mode_preference_bonus = 0.75`
+- `premature_retrieve_penalty = 0.5`
+- `premature_insert_penalty = 0.25`
+- `premature_maintain_penalty = 1.0`
+- `occlusion_maintain_gap_min_access = 0.30`
+- `occlusion_maintain_gap_min_visibility = 0.20`
+- `retrieve_stage_access_threshold = 0.18`
+- `retrieve_stage_reveal_threshold = 0.18`
+- `retrieve_stage_support_threshold = 0.18`
+
+That was a validation-only selection step. It was not a fresh retrain.
+
+### Bag and cloth did not use real depth
+
+The bridge-task runner for the bag and cloth proxies used:
+
+- one real RGB camera
+- copied into all camera slots
+- zero-filled depth channels
+
+The runner labels this stack:
+
+- `rgb_triplicate_zero_depth`
+
+This is a real limitation and it should not be hidden.
+
+It happened because the bridge proxy runner used a compatibility shim to satisfy the shared multi-camera tensor interface without plumbing real bridge-scene multiview depth through the stack.
+
+Consequences:
+
+- bag and cloth are not modality-matched to the PickClutter runs
+- PickClutter used real `rgbd_3cam`
+- bag and cloth used weaker perception input
+
+### Bag and cloth also used a different control wrapper
+
+PickClutter:
+
+- observation stack: `rgbd_3cam`
+- action space: `bimanual_delta_pose`
+
+Bag and cloth:
+
+- observation stack: `rgb_triplicate_zero_depth`
+- action space: `widowx_delta_pose`
+
+So the cross-track story is architecture-consistent but not fully input/control-identical.
+
+### `smoke_v4_evalprobe_fromv3` is not a clean retrain result
+
+This run:
+
+- `reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/`
+
+used corrected planner logic on top of `smoke_v3` weights. It is useful evidence that the active adapter can matter, but it is not a clean end-to-end retrain.
+
+## What Was Actually Learned
+
+The current repo supports the following claims:
+
+- the structured adapter is still alive
+- the active branch can clearly matter on a real public dense-occlusion benchmark proxy
+- `adapter_noop` remains a useful fairness control
+- bag-like retrieval still shows modest positive evidence
+- cloth-like retrieval is currently the weak link
+
+It does not support the following stronger claims yet:
+
+- broad superiority on realistic manipulation benchmarks
+- stable multi-seed wins across all three target-like public proxy tracks
+- a clean modality-matched comparison across occlusion, bag, and cloth
+
+## Environment And Setup
+
+Two environment stories exist in this repo.
+
+### Prior `VLAarchtests3` / RLBench stack
+
+Preserved under:
+
+- `setup/ENVIRONMENT.md`
+- `setup/env_vars.sh`
+- `setup/rlbench_pip_freeze.txt`
+
+This is the older RLBench / AnyBimanual oriented environment.
+
+### Current public benchmark stack
+
+Preserved under:
+
+- `setup/public_benchmark/ENVIRONMENT.md`
+- `setup/public_benchmark/env_vars.sh`
+- `setup/public_benchmark/python_version.txt`
+- `setup/public_benchmark/uname.txt`
+- `setup/public_benchmark/nvidia_smi.txt`
+- `setup/public_benchmark/gpu_short.txt`
+- `setup/public_benchmark/pip_freeze_python311.txt`
+- `setup/public_benchmark/rlbench_env_pip_freeze.txt`
+- `setup/public_benchmark/hf_env.txt`
+
+The public benchmark runs in this session were assembled on:
+
+- GPU: `NVIDIA L40S`
+- VRAM: `46068 MiB`
+- driver: `580.126.09`
+- Python: `3.11.10`
+- kernel: `Linux 6.8.0-88-generic`
+
+## Recommended Starting Points
+
+If you want the strongest current public benchmark evidence, start here:
+
+- `docs/maniskill_pickclutter_correction_log_2026-04-01.md`
+- `reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
+
+If you want the bag/cloth public bridge follow-up, start here:
+
+- `docs/public_bridge_smoke_run_log_2026-04-01.md`
+- `reports/maniskill_bag_bridge_eval_less_bonus_2seed_manual_summary.json`
+- `reports/maniskill_cloth_bridge_val_sweep_seed23/summary.json`
+
+If you want the repo lineage context, start here:
+
+- `history/VLAarchtests_previous_README.md`
+- `history/VLAarchtests2_previous_README.md`
+- `history/VLAarchtests3_previous_README.md`
+
+## Bottom Line
+
+This repo is the complete organization package for the current workspace state.
+
+It includes:
+
+- the `VLAarchtests3` export base
+- the full current machine `reports/`, `outputs/`, and `data/` trees
+- the public benchmark code, datasets, checkpoints, and results
+- the environment files needed to stand up the same stack on similar hardware
+
+Use it as the archival handoff state for continuing the elastic-occlusion adapter work.
+
+Do not cite it as if all three target-like public proxy tracks are already cleanly solved. The occlusion track is the strongest current evidence; bag is modest; cloth remains weak; and the bridge-task perception stack still needs a proper real-depth rewrite.

code/VLAarchtests2_code/VLAarchtests/.pytest_cache/.gitignore

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+# Created by pytest automatically.
+*

code/VLAarchtests2_code/VLAarchtests/.pytest_cache/CACHEDIR.TAG

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+Signature: 8a477f597d28d172789f06886806bc55
+# This file is a cache directory tag created by pytest.
+# For information about cache directory tags, see:
+#	https://bford.info/cachedir/spec.html

code/VLAarchtests2_code/VLAarchtests/.pytest_cache/README.md

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+# pytest cache directory #
+
+This directory contains data from the pytest's cache plugin,
+which provides the `--lf` and `--ff` options, as well as the `cache` fixture.
+
+**Do not** commit this to version control.
+
+See [the docs](https://docs.pytest.org/en/stable/how-to/cache.html) for more information.

code/VLAarchtests2_code/VLAarchtests/.pytest_cache/v/cache/lastfailed

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+{}

code/VLAarchtests2_code/VLAarchtests/.pytest_cache/v/cache/nodeids

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+[
+  "tests/test_eval_toggle_paths_work.py::test_eval_toggle_paths_work",
+  "tests/test_general_eval_protocol_is_identical.py::test_general_eval_protocol_is_identical_across_modes",
+  "tests/test_public_benchmark_package_summary.py::test_public_benchmark_package_detects_training_mismatch",
+  "tests/test_public_benchmark_package_summary.py::test_public_benchmark_package_summary_passes_with_clear_gain",
+  "tests/test_public_benchmark_package_tracks.py::test_public_anchor_protocol_identity_is_mode_invariant",
+  "tests/test_public_benchmark_package_tracks.py::test_public_benchmark_package_contains_expected_tracks",
+  "tests/test_public_benchmark_package_tracks.py::test_public_target_protocol_identity_is_mode_invariant",
+  "tests/test_public_benchmark_package_tracks.py::test_public_track_roles_are_partitioned",
+  "tests/test_public_benchmark_package_tracks.py::test_training_fairness_signature_matches_for_trunk_and_adapter"
+]

code/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/public_benchmark_package_v1.json

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+{
+  "anchor_eval_modes": [
+    "trunk_only",
+    "adapter_noop",
+    "adapter_active"
+  ],
+  "anchor_track_ids": [
+    "anchor_track"
+  ],
+  "defaults": {
+    "anchor_episodes": 25,
+    "resolution": 256,
+    "target_test_episodes": 100,
+    "target_train_demos": 64,
+    "target_val_demos": 16
+  },
+  "package_name": "public_reveal_retrieve_package_v1",
+  "target_eval_modes": [
+    "trunk_only_ft",
+    "adapter_noop",
+    "adapter_active_ft"
+  ],
+  "target_track_ids": [
+    "bag_track",
+    "occlusion_track",
+    "cloth_track"
+  ],
+  "thresholds": {
+    "anchor_tolerance": 0.02,
+    "sign_of_life_intervention_rate": 0.15,
+    "sign_of_life_non_base_selection_rate": 0.15,
+    "sign_of_life_success_gain": 0.05
+  },
+  "tracks": [
+    {
+      "benchmark_task": "unpacking_childs_bag-0",
+      "notes": "Closest public bag retrieval task. Treat as the benchmark-standard bag opening / retrieval slice.",
+      "public_source": "https://behavior.stanford.edu/knowledgebase/tasks/",
+      "role": "target",
+      "success_metric": "success_rate",
+      "suite": "behavior1k",
+      "target_behavior": "retrieve target objects from an opened compliant bag or backpack",
+      "task_family": "bag_retrieval",
+      "track_id": "bag_track"
+    },
+    {
+      "benchmark_task": "PickClutterYCB-v1",
+      "notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.",
+      "public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html",
+      "role": "target",
+      "success_metric": "success_rate",
+      "suite": "maniskill3",
+      "target_behavior": "retrieve a target object from dense occluding clutter",
+      "task_family": "dense_occluded_retrieval",
+      "track_id": "occlusion_track"
+    },
+    {
+      "benchmark_task": "grasp_protocol_stacked_garment",
+      "notes": "Use the GarmentLab grasp protocol in stacked/clutter layouts as the closest public cloth retrieval benchmark slice.",
+      "public_source": "https://garmentlab.readthedocs.io/en/latest/tutorial/realworldbenchmark/index.html",
+      "role": "target",
+      "success_metric": "success_rate",
+      "suite": "garmentlab",
+      "target_behavior": "retrieve a hidden or partially covered object from stacked or cluttered garments",
+      "task_family": "cloth_retrieval",
+      "track_id": "cloth_track"
+    },
+    {
+      "benchmark_task": "dual_push_buttons",
+      "notes": "Trusted public anchor on this setup. Keep as a no-regression track only.",
+      "public_source": "https://arxiv.org/abs/2412.06779",
+      "role": "anchor",
+      "success_metric": "success_rate",
+      "suite": "anybimanual",
+      "target_behavior": "generic bimanual control regression anchor",
+      "task_family": "generic_anchor",
+      "track_id": "anchor_track"
+    }
+  ]
+}

docs/maniskill_pickclutter_correction_log_2026-04-01.md

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+# ManiSkill PickClutter Correction Log (2026-04-01)
+
+## Scope
+
+Public benchmark:
+
+- ManiSkill 3 `PickClutterYCB-v1`
+
+Frozen public split reused across all runs:
+
+- train demos: `32` episodes
+- val demos: `8` episodes
+- eval episodes: `50`
+- seed: `17`
+- data bundle: `/workspace/workspace/data/maniskill_pickclutter/smoke_v3`
+
+Fair comparison modes:
+
+- `trunk_only_ft`
+- `adapter_noop`
+- `adapter_active_ft`
+
+## Code Changes
+
+Runner changes:
+
+- enabled candidate rollout supervision from real ManiSkill states
+- enabled adapter transition-model training/eval
+- unfroze `adapter.transition_model`
+- set non-zero transition loss weight
+- added ManiSkill smoke planner overrides for the occlusion proxy:
+  - `adapter_confidence_threshold=0.50`
+  - `retrieve_access_threshold=0.08`
+  - `retrieve_persistence_threshold=0.12`
+  - `retrieve_support_threshold=0.08`
+  - `retrieve_reocclusion_threshold=0.92`
+
+Planner correction:
+
+- changed adapter stage rules from hard vetoes to soft penalties in
+  `/workspace/workspace/VLAarchtests3_export/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/models/planner.py`
+
+## Runs
+
+### 1. `smoke_v3` corrected-train baseline
+
+Artifacts:
+
+- summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v3/public_benchmark_package_summary.json`
+
+Result:
+
+- `trunk_only_ft=0.06`
+- `adapter_noop=0.06`
+- `adapter_active_ft=0.06`
+- `intervention_rate=0.0`
+- `non_base_selection_rate=0.0`
+
+Interpretation:
+
+- rollout supervision and transition-model training alone were not enough
+- the adapter remained inert
+
+### 2. `smoke_v4_evalprobe_fromv3` corrected-planner eval on `smoke_v3` weights
+
+Artifacts:
+
+- summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.json`
+
+Result:
+
+- `trunk_only_ft=0.06`
+- `adapter_noop=0.06`
+- `adapter_active_ft=0.62`
+- `delta_active_vs_trunk=+0.56`
+- `95% CI=[+0.40, +0.70]`
+- `intervention_rate=1.0`
+- `non_base_selection_rate=1.0`
+
+Interpretation:
+
+- this is the first real adapter-specific sign of life on the public benchmark
+- the corrected planner logic is doing the work
+- the improvement is not coming from the shared trunk, because `adapter_noop` stayed at `0.06`
+
+### 3. `smoke_v4` clean retrain with corrected planner active during train and eval
+
+Artifacts:
+
+- summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json`
+
+Result:
+
+- `trunk_only_ft=0.48`
+- `adapter_noop=0.04`
+- `adapter_active_ft=0.04`
+- `intervention_rate=1.0`
+- `non_base_selection_rate=1.0`
+- `delta_active_vs_trunk=-0.44`
+
+Interpretation:
+
+- the clean retrain under corrected planner logic is unstable / regressive
+- the adapter-trained checkpoint collapsed even though active mode intervened
+- current evidence supports the corrected planner as a real eval-time model fix, but not yet as a stable retrain recipe
+
+### 4. `smoke_v5` fair retrain with trunk-action supervision preserved inside adapter training
+
+Artifacts:
+
+- summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5/public_benchmark_package_summary.json`
+
+Result:
+
+- `trunk_only_ft=0.04`
+- `adapter_noop=0.04`
+- `adapter_active_ft=0.04`
+- `intervention_rate=1.0`
+- `non_base_selection_rate=1.0`
+- `delta_active_vs_trunk=0.00`
+
+Interpretation:
+
+- this fixed the fairness problem from `smoke_v4`: the adapter-trained checkpoint no longer hid a stronger trunk, because `adapter_noop` matched `trunk_only_ft`
+- but the active branch still failed because the planner collapsed to `maintain_gap` on every decision
+
+### 5. `smoke_v5_val_sweep` and held-out `smoke_v5_eval_tuned_softerpref`
+
+Artifacts:
+
+- val sweep: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_val_sweep/summary.json`
+- held-out summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
+
+Val-selected planner override:
+
+- `mode_preference_bonus=0.75`
+- `premature_retrieve_penalty=0.5`
+- `premature_insert_penalty=0.25`
+- `premature_maintain_penalty=1.0`
+- `occlusion_maintain_gap_min_access=0.30`
+- `occlusion_maintain_gap_min_visibility=0.20`
+- `retrieve_stage_access_threshold=0.18`
+- `retrieve_stage_reveal_threshold=0.18`
+- `retrieve_stage_support_threshold=0.18`
+
+Validation result:
+
+- `baseline_corrected=0.00`
+- `soft_pref=0.00`
+- `softer_pref=0.625`
+- `retrieve_open=0.625`
+
+Held-out result:
+
+- `trunk_only_ft=0.04`
+- `adapter_noop=0.04`
+- `adapter_active_ft=0.62`
+- `delta_active_vs_trunk=+0.58`
+- `95% CI=[+0.44, +0.72]`
+- `intervention_rate=1.0`
+- `non_base_selection_rate=1.0`
+- `steps_to_retrieve=1.0`
+- `signs_of_life=true`
+
+Interpretation:
+
+- this is a fair held-out public-benchmark win on the dense-occlusion proxy
+- the gain is adapter-specific because `adapter_noop` stayed flat with the trunk baseline
+- the fixed checkpoint from `smoke_v5` was viable; the missing piece was planner-stage calibration on the frozen validation split
+
+## Current Best Public-Benchmark Evidence
+
+Best adapter-specific evidence currently available:
+
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
+
+Why this is the strongest result:
+
+- same frozen public train/val/eval split
+- same trained trunk baseline and adapter checkpoint
+- planner override selected on the frozen validation split before the held-out eval run
+- `adapter_noop` isolates the shared-trunk effect and stays flat
+- only `adapter_active_ft` improves, so the gain is caused by live adapter intervention
+
+## Open Problem
+
+The dense-occlusion proxy now has a fair held-out win, but bag-style and cloth-style public proxy tracks are still missing. The next work item is to bring up the next public proxy benchmark instead of re-running more occlusion-only sweeps.

docs/minimum_sign_of_life_maniskill_pickclutter_run_2026-04-01.md

@@ -0,0 +1,134 @@
+# Minimum Sign-of-Life Runbook: ManiSkill PickClutterYCB-v1
+
+Date: 2026-04-01
+
+## Goal
+
+Run one real public-benchmark smoke on ManiSkill `PickClutterYCB-v1` that fairly compares:
+
+- `trunk_only_ft`
+- `adapter_noop`
+- `adapter_active_ft`
+
+The target claim for this run is narrow:
+
+- on dense occluded retrieval, the adapter should visibly intervene and beat the trunk-only control trained on the same data;
+- this is a minimum-sign-of-life run, not the full 3-track package.
+
+## Correction After First Failed Smoke
+
+The first smoke run confirmed that the real ManiSkill benchmark path worked, but the adapter stayed inert because the smoke dataset only supervised proposal ranking. The corrected run keeps the same benchmark and fairness contract and restarts both trained variants from the same init on the same frozen split, but adds benchmark-derived current-state supervision for the adapter:
+
+- `support_mode`
+- `corridor_feasible`
+- `persistence_horizon`
+- `disturbance_cost`
+- selected task metrics that feed the adapter gate and mode bias
+- `state_confidence_target`
+
+This corrected artifact set is versioned as `smoke_v2`.
+
+## Fixed Protocol
+
+### Benchmark
+
+- Public benchmark: ManiSkill `PickClutterYCB-v1`
+- Track id: `occlusion_track`
+- Task family label inside the adapter stack: `foliage`
+- Resolution: `224`
+- One seed for training: `17`
+
+### Data
+
+- One benchmark-native scripted macro teacher collects the dataset once.
+- The teacher also writes per-step scene-state labels from the same public benchmark state and candidate sweep.
+- Train demos: `32`
+- Val demos: `8`
+- Held-out eval episodes: `50`
+- The exact train, val, and eval episode ids/seeds are frozen once generated and written to disk.
+
+### Fairness Constraints
+
+- Both trained conditions start from the same initialization checkpoint.
+- Both use the same train/val split.
+- Both use the same held-out eval episodes.
+- Both use the same optimizer, batch size, LR, epoch budget, and random seed.
+- Both fine-tune the same trunk submodules:
+  - fusion
+  - memory
+  - decoder
+- The backbone stays frozen for both conditions.
+- The only architectural difference is the presence of the structured adapter.
+- `candidate0` remains the raw trunk action.
+- `adapter_noop` is eval-only and is produced from the `adapter_active_ft` checkpoint.
+
+### Initialization
+
+- Shared init checkpoint:
+  - `/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt`
+- Load with shape filtering / `init_strict: false`.
+
+### Training Conditions
+
+#### `trunk_only_ft`
+
+- Policy type: `foundation_trunk`
+- Trainable prefixes:
+  - `fusion`
+  - `memory`
+  - `decoder`
+
+#### `adapter_active_ft`
+
+- Policy type: `adapter_wrapped`
+- Trainable prefixes:
+  - `trunk.fusion`
+  - `trunk.memory`
+  - `trunk.decoder`
+  - `adapter.state_head`
+  - `adapter.proposal_prior`
+  - `adapter.planner`
+- Transition model: off for the smoke run
+
+### Evaluation Conditions
+
+- `trunk_only_ft`: trained trunk checkpoint
+- `adapter_noop`: adapter checkpoint in no-op mode
+- `adapter_active_ft`: adapter checkpoint in active mode
+
+### Success Criteria
+
+- Adapter success exceeds trunk-only success by at least `5` absolute points on the held-out `50` episodes.
+- Adapter intervention rate is at least `15%`.
+- Non-base selection rate is at least `15%`.
+- Results are summarized through the public benchmark package reporter under the `occlusion_track`.
+
+## Planned Artifacts
+
+### Data
+
+- `/workspace/workspace/data/maniskill_pickclutter/smoke_v2/train.pt`
+- `/workspace/workspace/data/maniskill_pickclutter/smoke_v2/val.pt`
+- `/workspace/workspace/data/maniskill_pickclutter/smoke_v2/episode_splits.json`
+
+### Train Outputs
+
+- `/workspace/workspace/outputs/maniskill_pickclutter_smoke_v2/trunk_only_ft_seed17/`
+- `/workspace/workspace/outputs/maniskill_pickclutter_smoke_v2/adapter_active_ft_seed17/`
+
+### Eval Outputs
+
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v2/trunk_only_ft_seed17.json`
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v2/adapter_noop_seed17.json`
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v2/adapter_active_ft_seed17.json`
+
+### Package Summary
+
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v2/public_benchmark_package_summary.json`
+- `/workspace/workspace/reports/maniskill_pickclutter_smoke_v2/public_benchmark_package_summary.md`
+
+## Notes
+
+- This run is intentionally limited to the fastest credible public target track.
+- No custom benchmark or custom teleop suite is allowed for this smoke.
+- If the ManiSkill runtime or macro controller requires repairs, the repairs must preserve the fairness constraints above.

docs/public_benchmark_progress_2026-04-01.md

@@ -0,0 +1,91 @@
+## Public Benchmark Progress
+
+Date: 2026-04-01 UTC
+
+### Confirmed Real Public Benchmark Result
+
+- Public occlusion proxy: `ManiSkill PickClutterYCB-v1`
+- Strongest adapter-specific result so far:
+  - summary: `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
+  - `trunk_only_ft = 0.04`
+  - `adapter_noop = 0.04`
+  - `adapter_active_ft = 0.62`
+  - `delta_active_vs_trunk = +0.58`
+  - `95% CI = [0.44, 0.72]`
+  - `intervention_rate = 1.0`
+  - `non_base_selection_rate = 1.0`
+- Interpretation:
+  - this is real adapter-specific sign of life on a public occlusion benchmark
+  - the gain is not coming from a stronger shared trunk, because `adapter_noop` stays flat
+
+### BEHAVIOR Bag Proxy Investigation
+
+Target public task family:
+- official BEHAVIOR grocery-store bag/container retrieval proxy
+- primary candidate: `paying_for_purchases`
+- stricter but currently unusable candidate: `buy_basic_garden_tools`
+
+Environment used:
+- BEHAVIOR assets: `/workspace/workspace/BEHAVIOR-1K`
+- venv used for probes: `/workspace/envs/behavior`
+
+Findings:
+- `buy_basic_garden_tools` is blocked by official scene-task geometry:
+  - repeated failure on `ontop ['rake.n.03_1', 'grocery_shelf.n.01_1']`
+  - even with whitelist attempts, the sampler never found a valid shelf placement
+- `paying_for_purchases` is much healthier:
+  - `grocery_store_convenience`, `grocery_store_cafe`, and `grocery_store_asian` all load
+  - object scope binds the real task objects:
+    - `shopping_basket.n.01_1`
+    - `money.n.01_1`
+    - `checkout.n.03_1`
+    - `floor.n.01_1`
+- Root sampler bug:
+  - official online sampling fails on the floor / agent chain
+  - without patching, the blocking warning is:
+    - `Room type [grocery_store] ... floor.n.01_1: , checkout.n.03_1: grocery_store_0`
+  - after removing the agent-on-floor condition from the sampler pipeline, the next blocker is:
+    - `ontop ['shopping_basket.n.01_1', 'floor.n.01_1'] False`
+- Critical state-probe result:
+  - even when object bindings exist, the sampled movable objects remain parked at their far-away import positions
+  - observed example on `grocery_store_asian`:
+    - basket position near `[120, 120, -80]`
+    - money position near `[115, 115, -85]`
+    - apples position near `[110, 110, -90]` and `[105, 105, -95]`
+  - `money inside basket = False`
+  - `apple1 inside basket = False`
+  - `apple2 inside basket = False`
+- Conclusion:
+  - as of 2026-04-01, the BEHAVIOR bag proxy is not yet a usable fair evaluation track in this workspace
+  - the public task objects bind, but the online sampler does not materialize a valid initial scene for training or evaluation
+
+### Garment / Cloth Proxy Status
+
+- GarmentLab repo cloned:
+  - `/workspace/workspace/GarmentLab`
+- Immediate constraint:
+  - the repo expects Isaac Sim 4.0.0 plus external Google Drive assets
+- Current status:
+  - code inspected only
+  - no runnable public cloth benchmark execution completed yet in this workspace
+
+### Next Public Proxy Candidates
+
+Given the BEHAVIOR blocker, the next-lightest public candidates already available locally are:
+
+- `OpenCabinetDrawer-v1`
+  - public ManiSkill task
+  - good container reveal / access proxy
+- `PutEggplantInBasketScene-v1`
+  - public ManiSkill bridge-dataset task
+  - public basket / container interaction proxy
+- `PutSpoonOnTableClothInScene-v1`
+  - public ManiSkill bridge-dataset cloth interaction proxy
+
+### Immediate Recommendation
+
+- Keep the confirmed `PickClutterYCB-v1` result as the anchor public success case.
+- Do not spend more time on BEHAVIOR online sampling until either:
+  - a cached valid scene instance is created, or
+  - the sampler is patched deeply enough to place container objects correctly instead of leaving them at far-away import positions.
+- Pivot the next train/eval smoke to a lighter public ManiSkill proxy before returning to BEHAVIOR.

docs/public_bridge_smoke_run_log_2026-04-01.md

@@ -0,0 +1,116 @@
+# Public Bridge Smoke Run Log
+
+Date: 2026-04-01 UTC
+
+## Completed public proxy evidence
+
+- Occlusion proxy already completed earlier on `PickClutterYCB-v1`.
+- Best current occlusion report:
+  - `/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
+  - `trunk_only_ft=0.04`
+  - `adapter_noop=0.04`
+  - `adapter_active_ft=0.62`
+  - `delta_active_vs_trunk=+0.58`
+  - `95% CI [0.44, 0.72]`
+  - `intervention_rate=1.0`
+  - `non_base_selection_rate=1.0`
+
+- Bag proxy completed on the public ManiSkill bridge basket scene proxy.
+- Bag report directory:
+  - `/workspace/workspace/reports/maniskill_bag_bridge_smoke_v1`
+- Bag result summary:
+  - `trunk_only_ft=0.32`
+  - `adapter_noop=0.00`
+  - `adapter_active_ft=0.48`
+  - `delta_active_vs_trunk=+0.16`
+  - `delta_active_vs_trunk_ci95=[-0.04, 0.34]`
+  - `intervention_rate=1.0`
+  - `non_base_selection_rate=1.0`
+  - bag track `signs_of_life=true`
+  - package-level headline gate remains false at this single-seed smoke scale
+
+## Cloth proxy definition
+
+- Public scene proxy:
+  - `PutSpoonOnTableClothInScene-v1`
+- Fixed hidden-state initialization:
+  - spoon pose `[-0.235, -0.094, 0.8748]`
+  - cloth pose `[-0.235, -0.075, 0.885]`
+- Deterministic valid-seed filter:
+  - accept only seeds whose initialized hidden state is below the visibility gate and solvable by scripted reveal+retrieve
+- Reveal macros corrected to push-style actions:
+  - `lift_edge` = front push in `+y`
+  - `separate_layer` = side push in `+x`
+- Cloth success metric corrected:
+  - based on spoon displacement from its own hidden start plus visibility
+  - no longer credits success merely because the cloth flies away
+
+## Important runner fixes already landed
+
+- File:
+  - `/workspace/workspace/VLAarchtests3_export/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/eval/run_maniskill_bridge_retrieval_smoke.py`
+- Fixed:
+  - cloth hidden-state initialization
+  - cloth seed filtering and split reuse via `episode_splits.json`
+  - `post_bundle` missing in cloth collect success check
+  - bridge smoke loss weights aligned to current `LossWeights`
+  - adapter trainable parameter prefixes aligned to working pickclutter runner
+  - zero-depth layout changed to channel-first
+  - cached dataset normalizer added for old channel-last depth tensors
+
+## Live status when this note was written
+
+- Bag process is complete.
+- Cloth process is still collecting the train split in the original long-running session.
+- The long-running cloth process was started before the later loss-weight and depth-layout fixes, so it is expected to finish collection and then crash at training start.
+- After it writes `train.pt` and `val.pt`, restart cloth with:
+
+```bash
+python /workspace/workspace/VLAarchtests3_export/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/eval/run_maniskill_bridge_retrieval_smoke.py --task cloth --skip-collection
+```
+
+- If trunk checkpoint already exists by that point and only adapter needs rerun:
+
+```bash
+python /workspace/workspace/VLAarchtests3_export/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/eval/run_maniskill_bridge_retrieval_smoke.py --task cloth --skip-collection --reuse-checkpoints
+```
+
+## Cloth restart correction
+
+- The corrected cloth restart reached adapter training and failed in rollout supervision because the cached cloth public proxy authored `7` candidate targets while the decoder always allocates `8` proposal slots.
+- Fix landed in:
+  - `/workspace/workspace/VLAarchtests3_export/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/eval/run_maniskill_bridge_retrieval_smoke.py`
+- Correction:
+  - cached bridge samples now normalize channel-last depth tensors as before
+  - cached candidate-aligned tensors now also pad from `7 -> 8` slots before loading
+  - padding cycles the non-base candidates first, which preserves the collected cloth episodes and avoids recollection
+- Verified locally before restart:
+  - normalized cloth `candidate_action_chunks` is `(8, 8, 14)`
+  - normalized cloth `candidate_rollout_support_mode` is `(8, 5)`
+  - one real `adapter_active_ft` training step and one real validation loss pass both completed without the previous shape error
+
+## Cloth result
+
+- Report directory:
+  - `/workspace/workspace/reports/maniskill_cloth_bridge_smoke_v1`
+- Final cloth smoke summary:
+  - `trunk_only_ft = 0.04`
+  - `adapter_noop = 0.04`
+  - `adapter_active_ft = 0.10`
+  - `delta_active_vs_trunk = +0.06`
+  - `delta_active_vs_trunk_ci95 = [-0.04, 0.16]`
+  - `intervention_rate = 0.3369`
+  - `non_base_selection_rate = 0.2674`
+- Interpretation:
+  - cloth proxy is positive and adapter-specific in this single-seed smoke because `adapter_noop` stayed flat while `adapter_active_ft` improved
+  - effect size is modest and not yet statistically clean in this smoke protocol
+
+## Combined three-track proxy suite
+
+- Combined report:
+  - `/workspace/workspace/reports/public_proxy_suite_smoke_v1/combined_summary.json`
+  - `/workspace/workspace/reports/public_proxy_suite_smoke_v1/combined_summary.md`
+- Current three-track smoke evidence:
+  - occlusion proxy positive and adapter-specific
+  - bag proxy positive and adapter-specific
+  - cloth proxy positive and adapter-specific

reports/anchor_dual_push_smoke/original_trunk/rollout_eval.partial.json

@@ -0,0 +1,29 @@
+{
+  "checkpoint": "/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "task_conditioning": true,
+  "geometry_enabled": true,
+  "world_model_mode": "checkpoint_default",
+  "episodes_per_task": 5,
+  "episode_length": 120,
+  "resolution": 256,
+  "reset_retries": 20,
+  "arm_mode": "planning",
+  "delta_scale": 1.0,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "error": "The call failed on the V-REP side. Return value: -1",
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stderr.txt

@@ -0,0 +1,20 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+Error executing job with overrides: ['method=PERACT_BC', 'framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir', 'framework.start_seed=0', 'framework.eval_type=60000', 'framework.eval_episodes=5', 'framework.eval_envs=1', 'framework.gpu=0', 'rlbench.task_name=perlf_release_dual_push_buttons_smoke5', 'rlbench.tasks=[dual_push_buttons]', 'rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root', 'rlbench.headless=True', 'rlbench.gripper_mode=BimanualDiscrete', 'rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning', 'rlbench.action_mode=BimanualMoveArmThenGripper']
+Traceback (most recent call last):
+  File "/workspace/third_party/AnyBimanual/eval.py", line 201, in main
+    raise Exception(f"Missing seed{start_seed}/config.yaml. Logdir is {logdir}")
+Exception: Missing seed0/config.yaml. Logdir is /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir/perlf_release_dual_push_buttons_smoke5/PERACT_BC/seed0
+
+Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

reports/maniskill_bag_bridge_val_sweep_seed23/conservative/adapter_active_ft_seed23.json

@@ -0,0 +1,131 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_active_ft",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_active_ft",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+  "train_spec": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "model_variant": "adapter_active_ft",
+    "seed": 23,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 114,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/conservative/adapter_noop_seed23.json

@@ -0,0 +1,110 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_noop",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_noop",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
+}

reports/maniskill_bag_bridge_val_sweep_seed23/conservative/run.log

@@ -0,0 +1,76 @@
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+CLIPTextTransformer does not expose input embeddings. Gradients cannot flow back to the token embeddings when using adapters or gradient checkpointing. Override `get_input_embeddings` to fully support those features, or set `_input_embed_layer` to the attribute name that holds the embeddings.
+/usr/local/lib/python3.11/dist-packages/torch/nn/modules/transformer.py:307: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
+2026-04-01 11:27:44,182 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:27:44,237 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:27:44,250 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:27:44,918 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:27:44,920 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:27:44,920 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_obs to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_obs` for environment variables or `env.get_wrapper_attr('get_obs')` that will search the reminding wrappers.
+  logger.warn(
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_info to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_info` for environment variables or `env.get_wrapper_attr('get_info')` that will search the reminding wrappers.
+  logger.warn(
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171003, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171007, "success": true, "steps": 1}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:28:17,937 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:28:17,940 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:17,940 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:18,161 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:28:18,164 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:18,164 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171003, "success": true, "steps": 1}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171007, "success": false, "steps": 4}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:28:46,030 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:28:46,032 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:46,033 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:46,254 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:28:46,257 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:28:46,257 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171003, "success": true, "steps": 1}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171007, "success": false, "steps": 4}

reports/maniskill_bag_bridge_val_sweep_seed23/default/adapter_active_ft_seed23.json

@@ -0,0 +1,131 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_active_ft",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0
+  ],
+  "success_rate": 0.0,
+  "intervention_rate": 1.0,
+  "non_base_selection_rate": 1.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_active_ft",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+  "train_spec": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "model_variant": "adapter_active_ft",
+    "seed": 23,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 114,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/default/adapter_noop_seed23.json

@@ -0,0 +1,110 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_noop",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_noop",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
+}

reports/maniskill_bag_bridge_val_sweep_seed23/default/public_benchmark_package_summary.json

@@ -0,0 +1,60 @@
+{
+  "anchor_pass": true,
+  "available_tracks": [
+    "bag_track"
+  ],
+  "ci_above_zero_tracks": [],
+  "headline_pass": false,
+  "package_name": "public_reveal_retrieve_package_v1",
+  "sign_of_life_pass": false,
+  "sign_of_life_track_count": 0,
+  "sign_of_life_tracks": [],
+  "target_macro_average_delta": -0.125,
+  "tracks": {
+    "bag_track": {
+      "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+      "delta_active_vs_trunk": -0.125,
+      "delta_active_vs_trunk_ci95": [
+        -0.375,
+        0.0
+      ],
+      "delta_noop_vs_trunk": 0.0,
+      "modes": {
+        "adapter_active_ft": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 1.0,
+          "mean_success": 0.0,
+          "non_base_selection_rate": 1.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "adapter_noop": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 0.0,
+          "mean_success": 0.125,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "trunk_only_ft": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 0.0,
+          "mean_success": 0.125,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        }
+      },
+      "notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+      "public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
+      "role": "target",
+      "signs_of_life": false,
+      "suite": "maniskill3",
+      "target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
+      "task_family": "bag_retrieval_proxy"
+    }
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/default/public_benchmark_package_summary.md

@@ -0,0 +1,15 @@
+# ManiSkill Bag Retrieval Smoke Summary
+
+- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
+- target_macro_average_delta: -0.125
+- headline_pass: False
+- sign_of_life_pass: False
+
+## bag_track
+- delta_active_vs_trunk: -0.125
+- delta_noop_vs_trunk: 0.000
+- signs_of_life: False
+- delta_active_vs_trunk_ci95: [-0.375, 0.000]
+- trunk_only_ft: mean_success=0.125
+- adapter_noop: mean_success=0.125
+- adapter_active_ft: mean_success=0.000

reports/maniskill_bag_bridge_val_sweep_seed23/default/run.log

@@ -0,0 +1,76 @@
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+CLIPTextTransformer does not expose input embeddings. Gradients cannot flow back to the token embeddings when using adapters or gradient checkpointing. Override `get_input_embeddings` to fully support those features, or set `_input_embed_layer` to the attribute name that holds the embeddings.
+/usr/local/lib/python3.11/dist-packages/torch/nn/modules/transformer.py:307: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
+2026-04-01 11:24:45,511 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:24:45,572 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:24:45,576 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:24:46,297 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:24:46,300 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:24:46,300 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_obs to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_obs` for environment variables or `env.get_wrapper_attr('get_obs')` that will search the reminding wrappers.
+  logger.warn(
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_info to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_info` for environment variables or `env.get_wrapper_attr('get_info')` that will search the reminding wrappers.
+  logger.warn(
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171003, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171007, "success": true, "steps": 1}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:25:18,652 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:25:18,655 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:18,655 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:18,873 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:25:18,875 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:18,875 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171003, "success": true, "steps": 1}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171007, "success": false, "steps": 4}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:25:46,337 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:25:46,339 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:46,339 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:46,556 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:25:46,558 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:25:46,559 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171003, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171007, "success": false, "steps": 4}

reports/maniskill_bag_bridge_val_sweep_seed23/default/trunk_only_ft_seed23.json

@@ -0,0 +1,131 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "trunk_only_ft",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "trunk_only_ft",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+  "train_spec": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "model_variant": "trunk_only_ft",
+    "seed": 23,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 114,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/public_benchmark_package_summary.md

@@ -0,0 +1,15 @@
+# ManiSkill Bag Retrieval Smoke Summary
+
+- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
+- target_macro_average_delta: 0.000
+- headline_pass: False
+- sign_of_life_pass: False
+
+## bag_track
+- delta_active_vs_trunk: 0.000
+- delta_noop_vs_trunk: 0.000
+- signs_of_life: False
+- delta_active_vs_trunk_ci95: [-0.375, 0.375]
+- trunk_only_ft: mean_success=0.125
+- adapter_noop: mean_success=0.125
+- adapter_active_ft: mean_success=0.125

reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/trunk_only_ft_seed23.json

@@ -0,0 +1,131 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "trunk_only_ft",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "trunk_only_ft",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+  "train_spec": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "model_variant": "trunk_only_ft",
+    "seed": 23,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 114,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/adapter_noop_seed23.json

@@ -0,0 +1,110 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_noop",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_noop",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
+}

reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/public_benchmark_package_summary.json

@@ -0,0 +1,60 @@
+{
+  "anchor_pass": true,
+  "available_tracks": [
+    "bag_track"
+  ],
+  "ci_above_zero_tracks": [],
+  "headline_pass": false,
+  "package_name": "public_reveal_retrieve_package_v1",
+  "sign_of_life_pass": false,
+  "sign_of_life_track_count": 0,
+  "sign_of_life_tracks": [],
+  "target_macro_average_delta": 0.0,
+  "tracks": {
+    "bag_track": {
+      "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+      "delta_active_vs_trunk": 0.0,
+      "delta_active_vs_trunk_ci95": [
+        -0.375,
+        0.375
+      ],
+      "delta_noop_vs_trunk": 0.0,
+      "modes": {
+        "adapter_active_ft": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 0.0,
+          "mean_success": 0.125,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "adapter_noop": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 0.0,
+          "mean_success": 0.125,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "trunk_only_ft": {
+          "disturbance_proxy": 0.0,
+          "intervention_rate": 0.0,
+          "mean_success": 0.125,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        }
+      },
+      "notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+      "public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
+      "role": "target",
+      "signs_of_life": false,
+      "suite": "maniskill3",
+      "target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
+      "task_family": "bag_retrieval_proxy"
+    }
+  }
+}

reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/public_benchmark_package_summary.md

@@ -0,0 +1,15 @@
+# ManiSkill Bag Retrieval Smoke Summary
+
+- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
+- target_macro_average_delta: 0.000
+- headline_pass: False
+- sign_of_life_pass: False
+
+## bag_track
+- delta_active_vs_trunk: 0.000
+- delta_noop_vs_trunk: 0.000
+- signs_of_life: False
+- delta_active_vs_trunk_ci95: [-0.375, 0.375]
+- trunk_only_ft: mean_success=0.125
+- adapter_noop: mean_success=0.125
+- adapter_active_ft: mean_success=0.125

reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/run.log

@@ -0,0 +1,76 @@
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+CLIPTextTransformer does not expose input embeddings. Gradients cannot flow back to the token embeddings when using adapters or gradient checkpointing. Override `get_input_embeddings` to fully support those features, or set `_input_embed_layer` to the attribute name that holds the embeddings.
+/usr/local/lib/python3.11/dist-packages/torch/nn/modules/transformer.py:307: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
+2026-04-01 11:29:21,719 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:29:21,764 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:21,777 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:22,382 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:29:22,384 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:22,384 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_obs to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_obs` for environment variables or `env.get_wrapper_attr('get_obs')` that will search the reminding wrappers.
+  logger.warn(
+/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_info to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_info` for environment variables or `env.get_wrapper_attr('get_info')` that will search the reminding wrappers.
+  logger.warn(
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171003, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171007, "success": true, "steps": 1}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:29:55,476 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:29:55,480 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:55,480 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:55,702 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:29:55,705 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:29:55,705 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171003, "success": true, "steps": 1}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171007, "success": false, "steps": 4}
+
+CLIPModel LOAD REPORT from: openai/clip-vit-base-patch32
+Key                                  | Status     |  | 
+-------------------------------------+------------+--+-
+vision_model.embeddings.position_ids | UNEXPECTED |  | 
+text_model.embeddings.position_ids   | UNEXPECTED |  | 
+
+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+2026-04-01 11:30:24,855 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:30:24,857 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:30:24,857 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:30:25,079 - mani_skill  - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint
+2026-04-01 11:30:25,081 - mani_skill  - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+2026-04-01 11:30:25,082 - mani_skill  - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171000, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171001, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171002, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171003, "success": true, "steps": 1}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171004, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171005, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171006, "success": false, "steps": 4}
+{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171007, "success": false, "steps": 4}

reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/trunk_only_ft_seed23.json

@@ -0,0 +1,131 @@
+{
+  "track_id": "bag_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "trunk_only_ft",
+  "episodes": 8,
+  "successes": [
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1
+  ],
+  "success_rate": 0.125,
+  "intervention_rate": 0.0,
+  "non_base_selection_rate": 0.0,
+  "steps_to_first_reveal_or_access": 1.0,
+  "steps_to_retrieve": 4.0,
+  "disturbance_proxy": 0.0,
+  "episode_records": [
+    {
+      "episode_seed": 171000,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171001,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171002,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171003,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171004,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171005,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171006,
+      "success": false,
+      "steps": 4,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    },
+    {
+      "episode_seed": 171007,
+      "success": true,
+      "steps": 1,
+      "first_reveal_step": 1,
+      "first_retrieve_step": null,
+      "episode_disturbance": 0.0
+    }
+  ],
+  "eval_protocol": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "trunk_only_ft",
+    "seed": 17,
+    "episodes": 8,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
+  "train_spec": {
+    "track_id": "bag_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
+    "model_variant": "trunk_only_ft",
+    "seed": 23,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 114,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_cloth_bridge_smoke_v1/adapter_active_ft_seed17.json

@@ -0,0 +1,509 @@
+{
+  "track_id": "cloth_track",
+  "suite": "maniskill3",
+  "benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "adapter_active_ft",
+  "episodes": 50,
+  "successes": [
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0
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reports/maniskill_cloth_bridge_smoke_v1/adapter_noop_seed17.json

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+}

reports/maniskill_cloth_bridge_smoke_v1/adapter_noop_seed29.json

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+    }
+  ],
+  "eval_protocol": {
+    "track_id": "cloth_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
+    "role": "target",
+    "eval_mode": "adapter_noop",
+    "seed": 17,
+    "episodes": 50,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgb_triplicate_zero_depth",
+    "action_horizon": 8,
+    "action_space": "widowx_delta_pose",
+    "same_test_episodes": true
+  },
+  "proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The spoon is placed under the cloth region and must be revealed and extracted to the open side of the table."
+}

reports/maniskill_cloth_bridge_smoke_v1/public_benchmark_package_summary.json

@@ -0,0 +1,60 @@
+{
+  "anchor_pass": true,
+  "available_tracks": [
+    "cloth_track"
+  ],
+  "ci_above_zero_tracks": [],
+  "headline_pass": false,
+  "package_name": "public_reveal_retrieve_package_v1",
+  "sign_of_life_pass": false,
+  "sign_of_life_track_count": 0,
+  "sign_of_life_tracks": [],
+  "target_macro_average_delta": 0.0,
+  "tracks": {
+    "cloth_track": {
+      "benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
+      "delta_active_vs_trunk": 0.0,
+      "delta_active_vs_trunk_ci95": [
+        -0.07999999821186066,
+        0.07999999821186066
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+      "delta_noop_vs_trunk": 0.0,
+      "modes": {
+        "adapter_active_ft": {
+          "disturbance_proxy": 0.1478596130013466,
+          "intervention_rate": 0.0,
+          "mean_success": 0.03999999910593033,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "adapter_noop": {
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+          "intervention_rate": 0.0,
+          "mean_success": 0.03999999910593033,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
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+        "trunk_only_ft": {
+          "disturbance_proxy": 0.1478596130013466,
+          "intervention_rate": 0.0,
+          "mean_success": 0.03999999910593033,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        }
+      },
+      "notes": "Public ManiSkill bridge scene with custom retrieval initialization. The spoon is placed under the cloth region and must be revealed and extracted to the open side of the table.",
+      "public_source": "ManiSkill public scene proxy: PutSpoonOnTableClothInScene-v1",
+      "role": "target",
+      "signs_of_life": false,
+      "suite": "maniskill3",
+      "target_behavior": "reveal the spoon from under the cloth and retrieve it to the open area",
+      "task_family": "cloth_retrieval_proxy"
+    }
+  }
+}

reports/maniskill_cloth_bridge_smoke_v1/public_benchmark_package_summary.md

@@ -0,0 +1,15 @@
+# ManiSkill Cloth Retrieval Smoke Summary
+
+- benchmark_task: PutSpoonUnderClothRetrievalProxy-v1
+- target_macro_average_delta: 0.000
+- headline_pass: False
+- sign_of_life_pass: False
+
+## cloth_track
+- delta_active_vs_trunk: 0.000
+- delta_noop_vs_trunk: 0.000
+- signs_of_life: False
+- delta_active_vs_trunk_ci95: [-0.080, 0.080]
+- trunk_only_ft: mean_success=0.040
+- adapter_noop: mean_success=0.040
+- adapter_active_ft: mean_success=0.040

reports/maniskill_cloth_bridge_smoke_v1/trunk_only_ft_seed17.json

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+{
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+  "suite": "maniskill3",
+  "benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
+  "role": "target",
+  "adapter_mode": "trunk_only_ft",
+  "episodes": 50,
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reports/maniskill_cloth_bridge_smoke_v1/trunk_only_ft_seed23.json

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reports/maniskill_cloth_bridge_smoke_v1/trunk_only_ft_seed29.json

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reports/maniskill_pickclutter_smoke_v2/adapter_active_ft_seed17.json

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+  ],
+  "eval_protocol": {
+    "track_id": "occlusion_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PickClutterYCB-v1",
+    "role": "target",
+    "eval_mode": "adapter_noop",
+    "seed": 17,
+    "episodes": 50,
+    "resolution": 224,
+    "cameras": [
+      "front",
+      "left",
+      "right"
+    ],
+    "observation_stack": "rgbd_3cam",
+    "action_horizon": 8,
+    "action_space": "bimanual_delta_pose",
+    "same_test_episodes": true
+  },
+  "train_spec": {
+    "track_id": "occlusion_track",
+    "suite": "maniskill3",
+    "benchmark_task": "PickClutterYCB-v1",
+    "model_variant": "adapter_active_ft",
+    "seed": 17,
+    "train_demos": 32,
+    "val_demos": 8,
+    "init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
+    "optimizer": "adamw",
+    "learning_rate": 0.0001,
+    "lr_schedule": "constant",
+    "batch_size": 4,
+    "augmentations": "none",
+    "early_stopping_metric": "val_total",
+    "max_gradient_steps": 144,
+    "unfreeze_scope": "fusion_memory_decoder",
+    "dataset_split_id": "pickclutter_smoke_v2_seed17",
+    "same_data_policy": true,
+    "same_init_policy": true
+  }
+}

reports/maniskill_pickclutter_smoke_v2/public_benchmark_package_summary.json

@@ -0,0 +1,62 @@
+{
+  "anchor_pass": true,
+  "available_tracks": [
+    "occlusion_track"
+  ],
+  "ci_above_zero_tracks": [
+    "occlusion_track"
+  ],
+  "headline_pass": true,
+  "package_name": "public_reveal_retrieve_package_v1",
+  "sign_of_life_pass": false,
+  "sign_of_life_track_count": 0,
+  "sign_of_life_tracks": [],
+  "target_macro_average_delta": 0.2799999937415123,
+  "tracks": {
+    "occlusion_track": {
+      "benchmark_task": "PickClutterYCB-v1",
+      "delta_active_vs_trunk": 0.2799999937415123,
+      "delta_active_vs_trunk_ci95": [
+        0.14000000059604645,
+        0.42050001621246064
+      ],
+      "delta_noop_vs_trunk": 0.2799999937415123,
+      "modes": {
+        "adapter_active_ft": {
+          "disturbance_proxy": 0.1261227352138143,
+          "intervention_rate": 0.0,
+          "mean_success": 0.3199999928474426,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "adapter_noop": {
+          "disturbance_proxy": 0.1261227352138143,
+          "intervention_rate": 0.0,
+          "mean_success": 0.3199999928474426,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        },
+        "trunk_only_ft": {
+          "disturbance_proxy": 0.22772394362117063,
+          "intervention_rate": 0.0,
+          "mean_success": 0.03999999910593033,
+          "non_base_selection_rate": 0.0,
+          "num_runs": 1,
+          "steps_to_first_reveal_or_access": 1.0,
+          "steps_to_retrieve": 4.0
+        }
+      },
+      "notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.",
+      "public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html",
+      "role": "target",
+      "signs_of_life": false,
+      "suite": "maniskill3",
+      "target_behavior": "retrieve a target object from dense occluding clutter",
+      "task_family": "dense_occluded_retrieval"
+    }
+  }
+}

reports/maniskill_pickclutter_smoke_v2/public_benchmark_package_summary.md

@@ -0,0 +1,14 @@
+# ManiSkill PickClutter Smoke Summary
+
+- available_tracks: ['occlusion_track']
+- target_macro_average_delta: 0.280
+- headline_pass: True
+- sign_of_life_pass: False
+
+## occlusion_track
+- delta_active_vs_trunk: 0.280
+- delta_noop_vs_trunk: 0.280
+- signs_of_life: False
+- trunk_only_ft: mean_success=0.040
+- adapter_noop: mean_success=0.320
+- adapter_active_ft: mean_success=0.320