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artifacts/debug/iter22_scratch/README.md

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+# Iter22 Scratch Bundle
+
+This folder contains the excluded scratch-state files for the `metric_iter22_*_pregrasp_repair` reruns.
+
+It is intentionally separate from the main published result folders so the authoritative artifacts stay compact while the full recompute trace remains available.
+
+## Layout
+
+- `episode0/recompute/pregrasp_rows/`
+  - One JSON row per dense frame from the resumable pregrasp rerun.
+- `episode0/recompute/logs/`
+  - Worker logs and rerun Xvfb logs for episode 0.
+- `episode0/render/frames/`
+  - Per-frame PNGs used to assemble the episode-0 GIF suite.
+- `episode0/render/logs/`
+  - Render Xvfb logs for episode 0.
+- `episode1/recompute/pregrasp_rows/`
+  - One JSON row per dense frame from the resumable pregrasp rerun.
+- `episode1/recompute/logs/`
+  - Worker logs and rerun Xvfb logs for episode 1.
+- `episode1/render/frames/`
+  - Per-frame PNGs used to assemble the episode-1 GIF suite.
+- `episode1/render/logs/`
+  - Render Xvfb logs for episode 1.
+- `runtime_cache/code/`
+  - Python bytecode caches copied from the local working tree at upload time.
+
+## Notes
+
+- These files are debugging and reproducibility byproducts, not the primary benchmark outputs.
+- The authoritative benchmark artifacts remain under:
+  - `artifacts/results/metric_iter22_ep0_pregrasp_repair/`
+  - `artifacts/results/metric_iter22_ep1_pregrasp_repair/`

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0001.json

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+{"frame_index": 1, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4873255703630376, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0021.json

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+{"frame_index": 21, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4159331114052496, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0029.json

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+{"frame_index": 29, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3894070191920552, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0051.json

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+{"frame_index": 51, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2845414076545782, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0058.json

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+{"frame_index": 58, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812728787754392, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0085.json

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+{"frame_index": 85, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281318607793286, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0086.json

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+{"frame_index": 86, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28093803512906423, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0113.json

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+{"frame_index": 113, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28104138367409054, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0114.json

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+{"frame_index": 114, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2806648347406801, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0145.json

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+{"frame_index": 145, "pregrasp_progress": 0.0010497722401906495, "pregrasp_distance": 0.27978541033625864, "p_pre": 0.7220320049134769, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0168.json

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+{"frame_index": 168, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28135205633887966, "p_pre": 0.7212551551160588, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0177.json

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+{"frame_index": 177, "pregrasp_progress": 0.009517482732248839, "pregrasp_distance": 0.27741377539916995, "p_pre": 0.7229103858442261, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0195.json

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+{"frame_index": 195, "pregrasp_progress": 0.25247626527349754, "pregrasp_distance": 0.2093660214598764, "p_pre": 0.5732177029541791, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0222.json

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+{"frame_index": 222, "pregrasp_progress": 0.7846520347547815, "pregrasp_distance": 0.06031453581390531, "p_pre": 0.9020817721523657, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0229.json

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+{"frame_index": 229, "pregrasp_progress": 0.9664280939000538, "pregrasp_distance": 0.009402800279903348, "p_pre": 0.9695949823107265, "y_pre_raw": 0.0, "y_pre": 0.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0230.json

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+{"frame_index": 230, "pregrasp_progress": 0.945726369538588, "pregrasp_distance": 0.015200927603818287, "p_pre": 1.0, "y_pre_raw": 1.0, "y_pre": 1.0}

artifacts/debug/iter22_scratch/episode0/recompute/pregrasp_rows/frame_0233.json

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+{"frame_index": 233, "pregrasp_progress": 0.8944304100975395, "pregrasp_distance": 0.029567870797367078, "p_pre": 0.0, "y_pre_raw": 0.0, "y_pre": 0.0}