diff --git a/MANIFEST.txt b/MANIFEST.txt
index 7c1bedfc2518f6a51d065260b6ff1dfc374708c3..e59bee40c76cc2cb392aa7cf46dbe109f62f2e56 100644
--- a/MANIFEST.txt
+++ b/MANIFEST.txt
@@ -1,21347 +1,3 @@
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-./.cache/huggingface/upload/external/yarr/yarr/runners/pytorch_train_runner.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/runners/pytorch_train_runner.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/runners/train_runner.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/runners/train_runner.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/__init__.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/__init__.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/log_writer.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/log_writer.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/multi_task_rollout_generator.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/multi_task_rollout_generator.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/observation_type.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/observation_type.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/process_str.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/process_str.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/rollout_generator.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/rollout_generator.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/stat_accumulator.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/stat_accumulator.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/transition.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/transition.py.metadata
-./.cache/huggingface/upload/external/yarr/yarr/utils/video_utils.py.lock
-./.cache/huggingface/upload/external/yarr/yarr/utils/video_utils.py.metadata
 ./MANIFEST.txt
 ./README.md
 ./artifacts/results/oven_episode0_full/episode0.dense.csv
@@ -21367,6 +23,94 @@
 ./artifacts/results/oven_episode0_independent_v1/templates.json
 ./artifacts/results/oven_episode0_independent_v2/templates.json
 ./artifacts/results/oven_episode0_independent_v3/templates.json
+./artifacts/results/oven_episode0_iter2/templates.json
+./artifacts/results/oven_episode0_iter2_clean/clean_targeted_frames.csv
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_170.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_178.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_190.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_200.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_220.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_232.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_234.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_260.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_321.json
+./artifacts/results/oven_episode0_iter2_clean/frames/frame_326.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_170.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_175.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_178.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_180.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_185.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_190.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_200.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_210.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_220.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_225.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_228.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_230.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_232.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_234.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_236.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_240.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_260.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_280.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_321.json
+./artifacts/results/oven_episode0_iter2_parallel/frames/frame_326.json
+./artifacts/results/oven_episode0_iter2_parallel/targeted_frames.csv
+./artifacts/results/oven_episode0_iter2_parallel/templates.json
+./artifacts/results/oven_episode0_iter2_parallel/templates.pkl
+./artifacts/results/oven_episode0_iter2_targeted.csv
+./artifacts/results/oven_episode0_iter3_templates/templates.json
+./artifacts/results/oven_episode0_iter3_templates/templates.pkl
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0170.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0177.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0178.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0180.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0185.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0190.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0195.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0200.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0205.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0210.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0215.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0220.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0225.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0229.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0232.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0234.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0260.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0321.json
+./artifacts/results/oven_episode0_iter4_batch/frames/frame_0326.json
+./artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_170.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_177.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_178.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_180.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_185.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_190.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_195.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_200.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_205.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_210.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_215.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_220.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_225.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_229.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_232.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_234.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_260.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_321.json
+./artifacts/results/oven_episode0_iter4_clean/frames/frame_326.json
+./artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv
+./artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0215.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0220.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0225.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0229.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0232.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0234.json
+./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0260.json
+./artifacts/results/oven_episode0_iter4_templates/templates.json
+./artifacts/results/oven_episode0_iter4_templates/templates.pkl
 ./artifacts/results/oven_episode0_repaired_v1/episode0.dense.csv
 ./artifacts/results/oven_episode0_repaired_v1/episode0.keyframes.csv
 ./artifacts/results/oven_episode0_repaired_v1/episode0.metrics.json
@@ -21720,6 +464,7 @@
 ./code/scripts/render_oven_metric_frame.py
 ./code/scripts/render_oven_metric_gifs.py
 ./code/scripts/repair_oven_episode_dense.py
+./code/scripts/run_oven_frame_batch.py
 ./code/scripts/run_oven_label_study.py
 ./code/scripts/run_oven_single_frame.py
 ./environment/activate_rlbench_runtime.sh
diff --git a/README.md b/README.md
index de05b662ae8ec6fc6bfb0f21a081db19a97fd86d..c236a6d482ed533c22af966b18050b6322d6de82 100644
--- a/README.md
+++ b/README.md
@@ -8,175 +8,199 @@ tags:
 
 # VLAdaptorBench
 
-This repository contains the first-pass benchmark setup, metric code, debug history, and single-episode label-validation artifacts for the proposed VLA + adaptor study on `bimanual_take_tray_out_of_oven`.
+This repository contains the benchmark setup, metric code, debug history, and validation artifacts for the proposed VLA + adaptor label study on `bimanual_take_tray_out_of_oven`.
 
-This pass is a label study, not a policy study. No `pi0.5` integration is included here.
+This is still a label-validation repository, not a policy repository. No `pi0.5` integration is included here.
 
-## What is in this upload
+## Current Status
+
+The latest work in this upload fixes the three main oven-metric failures that were still present in the earlier `oven_episode0_repaired_v1` bundle:
+
+1. The reveal-to-retrieve transition used to occur too late, effectively at grasp time.
+2. The visibility metric used to drop to zero around frame 232 even when the tray grasp region was clearly visible in `wrist_left`.
+3. `p_pre` stayed near zero until grasp, and some late-frame repair runs produced corrupted rows because they replayed each frame from scratch in a separate process.
+
+The current code addresses those issues by:
+
+- decoding RLBench mask PNGs correctly before converting them back to simulator handles
+- scoring visibility directly from mask-handle agreement instead of the old depth/z heuristic
+- inferring tray mask handles from grasp-region projections
+- deriving a late-window pregrasp approach template instead of accidentally including frame-8 arm poses
+- adding explicit `pregrasp_progress`, `pregrasp_distance`, `pregrasp_speed`, and `phase_score`
+- making the repair path batch frames sequentially per worker so late-frame rows do not drift
+
+The latest validated artifacts are the `iter4_*` outputs, not `oven_episode0_repaired_v1`.
+
+## What Is In This Upload
 
-- `external/`
-  - Full local benchmark snapshots copied from the RunPod workspace.
-  - `external/rlbench/`: local RLBench tree used for this run.
-  - `external/pyrep/`: local PyRep tree used for this run.
-  - `external/peract_bimanual/`: local PerAct bimanual tree used for context.
-  - `external/yarr/`: local YARR tree used for context.
 - `code/rr_label_study/`
-  - Core study code, including dense replay, visibility metrics, pregrasp/extraction oracles, keyframe extraction, intervention checks, and summary metric computation.
+  - Core metric code.
+  - Dense replay, visibility scoring, pregrasp/extraction oracles, keyframe extraction, intervention checks, and summary metric computation.
 - `code/scripts/`
-  - Study runners and helper scripts.
-  - `run_oven_label_study.py`: main dense/keyframe study runner.
+  - Study runners and helpers.
+  - `run_oven_label_study.py`: dense/keyframe study runner.
   - `launch_parallel_oven_label_study.py`: multi-display worker launcher.
-  - `run_oven_single_frame.py`: isolated single-frame recomputation helper.
-  - `repair_oven_episode_dense.py`: external repair pass for corrupted dense frames.
-  - `render_oven_metric_frame.py`: renders per-frame visibility/path/all-metric overlays.
-  - `render_oven_metric_gifs.py`: parallel multi-display GIF renderer for the final visual diagnostics.
+  - `run_oven_single_frame.py`: single-frame recomputation helper.
+  - `run_oven_frame_batch.py`: new sequential batch recomputation helper used to avoid late-frame drift.
+  - `repair_oven_episode_dense.py`: batched repair pass for suspicious dense rows.
+  - `render_oven_metric_frame.py`: per-frame visualization renderer.
+  - `render_oven_metric_gifs.py`: GIF renderer.
 - `artifacts/results/`
-  - All result directories produced during debugging and validation.
-  - This includes failed/stale runs, partial runs, smoke runs, the first independent run, and the final repaired run.
-  - The final repaired run also includes full visualization artifacts and single-frame smoke-check images.
+  - Full debug history, including stale runs and current validation outputs.
 - `environment/`
-  - Machine snapshot, conda env export, pip freeze, upstream repo revisions, runtime activation helper, setup helper, and dataset notes.
+  - Machine snapshot, env export, pip freeze, setup helpers, and dataset notes.
+- `external/`
+  - Local source snapshots of RLBench, PyRep, PerAct bimanual, and YARR used for this work.
 - `MANIFEST.txt`
-  - Flat file listing of the uploaded bundle contents.
-
-## Repository map
-
-Relevant entry points and where to look:
-
-- Benchmark snapshots
-  - `external/README.md`
-  - `external/rlbench/README.md`
-  - `external/rlbench/rlbench/bimanual_tasks/`
-  - `external/rlbench/rlbench/action_modes/`
-  - `external/pyrep/README.md`
-  - `external/pyrep/pyrep/`
-  - `external/peract_bimanual/`
-  - `external/yarr/`
-- Study code
-  - `code/rr_label_study/oven_study.py`
-  - `code/scripts/run_oven_label_study.py`
-  - `code/scripts/launch_parallel_oven_label_study.py`
-  - `code/scripts/run_oven_single_frame.py`
-  - `code/scripts/repair_oven_episode_dense.py`
-  - `code/scripts/render_oven_metric_frame.py`
-  - `code/scripts/render_oven_metric_gifs.py`
-- Final clean artifact
-  - `artifacts/results/oven_episode0_repaired_v1/episode0.dense.csv`
-  - `artifacts/results/oven_episode0_repaired_v1/episode0.keyframes.csv`
-  - `artifacts/results/oven_episode0_repaired_v1/episode0.metrics.json`
-  - `artifacts/results/oven_episode0_repaired_v1/summary.json`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_visibility_focus.gif`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_path_quality_focus.gif`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_all_metrics.gif`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations/README.md`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/visibility_0232.png`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/visibility_0240.png`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/path_0232.png`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/path_0240.png`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/all_0232.png`
-  - `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/all_0240.png`
-- Intermediate/debug artifacts
-  - `artifacts/results/oven_episode0_full*/`
-  - `artifacts/results/oven_to240_*/`
-  - `artifacts/results/oven_episode0_independent_v1/`
-  - `artifacts/results/parallel_smoke_2x10/`
-- Environment/repro
-  - `environment/system_info.txt`
-  - `environment/repo_revisions.txt`
-  - `environment/conda_env_rlbench.yml`
-  - `environment/pip_freeze_rlbench.txt`
-  - `environment/setup_same_hardware.sh`
-  - `environment/activate_rlbench_runtime.sh`
-  - `environment/dataset_notes.txt`
-
-## Final validated artifact
-
-The clean single-episode artifact is:
-
-- `artifacts/results/oven_episode0_repaired_v1/episode0.dense.csv`
-- `artifacts/results/oven_episode0_repaired_v1/episode0.keyframes.csv`
-- `artifacts/results/oven_episode0_repaired_v1/episode0.metrics.json`
-- `artifacts/results/oven_episode0_repaired_v1/summary.json`
-
-The visual verification artifacts for that same run are:
-
-- `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_visibility_focus.gif`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_path_quality_focus.gif`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations/episode0_all_metrics.gif`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations/README.md`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/visibility_0232.png`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/visibility_0240.png`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/path_0232.png`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/path_0240.png`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/all_0232.png`
-- `artifacts/results/oven_episode0_repaired_v1/visualizations_smoke/all_0240.png`
-
-Key numbers from `oven_episode0_repaired_v1`:
-
-- `phase_switch_rises = 1`
-- `phase_switch_falls = 0`
-- `ppre_cross_frame = 232`
-- `pext_cross_frame = 232`
-- `ready_cross_frame = 234`
-- `phase_cross_frame = 236`
-- `dense_boundary_error_frames = 2`
-- `key_boundary_error_keyframes = 1`
-- `auroc_ppre_ypre = 1.0`
-- `auprc_ppre_ypre = 1.0`
-- `auroc_pext_yext = 1.0`
-- `auprc_pext_yext = 1.0`
-- `auroc_phase_yready = 0.9895`
-- `auprc_phase_yready = 0.9850`
-- `f1_phase_yready = 0.9894`
-- Interventions:
-  - pre-ready `open_more` raises `p_ext` in `2/2`
-  - pre-ready extract succeeds in `0/2`
-  - post-ready extract succeeds in `2/2`
-  - post-ready extra reveal has low gain in `2/2`
-
-## What was done
-
-The work in this bundle is the full benchmark/metric debugging path, including intermediate failures:
-
-1. Built dense replay and label-generation scaffolding around RLBench/PerAct-style demos.
-2. Verified the local RLBench fork was not actuating discrete grippers correctly through `BimanualJointPositionActionMode`.
-3. Patched replay to explicitly apply bimanual discrete gripper state from demonstrations.
-4. Fixed visibility scoring so it does not depend on stale simulator object handles in stored mask images.
-5. Reworked snapshot restoration to bypass RLBench task-state restore issues after grasp events.
-6. Tightened template extraction and extraction scoring for already-grasped/already-extracted states.
-7. Added independent replay evaluation for dense label validation.
-8. Identified remaining corrupted dense frames caused by repeated replay/restore contamination inside one simulator process.
-9. Added an external isolated-frame repair pass and used it to produce the clean `oven_episode0_repaired_v1` artifact.
-10. Added visualization renderers and produced GIF/still overlays to inspect visibility, path quality, and phase switching directly against the episode camera feeds.
-
-The result directories preserve this whole path. They are intentionally not pruned.
-
-## Result directory guide
-
-- `oven_smoke_1`, `oven_smoke_30`, `oven_smoke_30_fast`
-  - Early smoke tests.
-- `oven_episode0_full*`
-  - Early full-episode dense runs before the replay/visibility/oracle fixes converged.
-- `oven_to240_*`
-  - Shorter targeted runs used while debugging replay, snapshots, and late-phase drift.
-- `oven_episode0_independent_v1`
-  - First successful independent dense pass. Core metrics were already strong, but the dense CSV still had stale corrupted rows.
-- `oven_episode0_repaired_v1`
-  - Final cleaned artifact after isolated-frame recomputation.
-  - Includes `visualizations/` with full GIF diagnostics and `visualizations_smoke/` with targeted still-image checks around the reveal to retrieve boundary.
-- `parallel_smoke_2x10`
-  - Worker/Xvfb parallelization smoke test.
+  - Flat file listing of the upload contents.
+
+## Latest Metric Fixes
+
+The latest code changes are in:
+
+- `code/rr_label_study/oven_study.py`
+- `code/scripts/repair_oven_episode_dense.py`
+- `code/scripts/run_oven_frame_batch.py`
+- `code/scripts/render_oven_metric_frame.py`
+
+The important changes are:
+
+### 1. Visibility metric repair
+
+- `_load_mask()` now rescales stored mask PNGs back to `[0, 1]` before calling `rgb_handles_to_mask`.
+- Visibility is now computed by projecting grasp-region or whole-tray points into each camera and checking whether the decoded mask handle at the projected pixel matches the inferred tray handles.
+- Template derivation now infers `mask_handle_ids` from reference frames near the actual pregrasp/grasp window.
+
+This fixes the old failure where visibility dropped to zero even when the tray lip was visibly present in the wrist camera.
+
+### 2. Pregrasp/path metric repair
+
+- Template extraction now detects the pregrasp approach onset in a bounded late window before grasp instead of taking the first small negative slope in the entire episode.
+- The current template approach frames for episode 0 are now:
+  - `177, 187, 197, 208, 218, 229, 232`
+- `p_pre` now uses the last few approach templates plus explicit geometric progress toward the pregrasp pose instead of only brittle planner success.
+- `y_pre` now treats "already inside the pregrasp corridor" as success, which is appropriate for this oracle study.
+
+### 3. Replay/repair correctness
+
+- The old isolated repair path replayed every suspicious frame from a fresh reset, which could corrupt late rows.
+- The new helper `run_oven_frame_batch.py` computes frame rows sequentially inside a single env per worker.
+- `repair_oven_episode_dense.py` now distributes frame batches, not individual frames, across displays.
+
+This specifically fixed the bad frame-232 drift that reappeared in the old isolated-per-frame repair path even after the visibility formula was corrected.
+
+### 4. Earlier phase signal
+
+- The code now records:
+  - `pregrasp_progress`
+  - `pregrasp_distance`
+  - `pregrasp_speed`
+  - `phase_score`
+- `phase_switch` is now driven from a persistent threshold on `phase_score` instead of only `p_pre >= tau`.
+- `y_retrieve` is still oracle-like and monotone, but the metric side now has a smoother approach-sensitive signal for early switching.
+
+## Latest Validated Artifacts
+
+The current trustworthy artifacts are:
+
+- `artifacts/results/oven_episode0_iter4_templates/templates.json`
+- `artifacts/results/oven_episode0_iter4_templates/templates.pkl`
+- `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
+- `artifacts/results/oven_episode0_iter4_batch/frames/`
+- `artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv`
+- `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
+
+These artifacts are the main evidence for the latest fixes.
+
+## Key Verified Findings
+
+From the latest iter4 validation on episode 0:
+
+- Visibility over the dense 170-234 window is clean:
+  - min `three_view_visibility = 1.0`
+  - min `full_view_visibility = 1.0`
+- Frame 232 is now correct in sequential replay:
+  - `three_view_visibility = 1.0`
+  - `full_view_visibility = 1.0`
+  - `pregrasp_progress = 0.8946`
+- Pregrasp progress now rises well before grasp:
+  - first `pregrasp_speed >= 0.01` at frame `178`
+  - first `pregrasp_progress >= 0.05` at frame `189`
+  - first `pregrasp_progress >= 0.25` at frame `200`
+  - first `pregrasp_progress >= 0.50` at frame `213`
+- `p_pre` now rises before grasp instead of staying at zero:
+  - frame `190`: `0.044`
+  - frame `210`: `0.185`
+  - frame `215`: `0.373`
+  - frame `220`: `0.497`
+  - frame `232`: `0.666`
+- The old artifact had `three_view_visibility = 0.0` and `p_pre = 0.0` at the same frames.
+- `p_ext` is no longer spuriously high before grasp in the corrected batch replay:
+  - pregrasp region stays at `0.2`
+  - rises at grasp / early extract
+  - reaches `0.8846` by frame `260`
+  - reaches `1.0` by frames `321` and `326`
+
+See:
+
+- `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
+- `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
+
+## Artifact Guide
+
+### Current artifacts
+
+- `oven_episode0_iter3_templates/`
+  - First regenerated template bundle after the mask/approach fixes.
+- `oven_episode0_iter4_templates/`
+  - Current template bundle with the corrected late-window approach onset.
+- `oven_episode0_iter4_clean/`
+  - Isolated targeted frame checks used while diagnosing the old per-frame repair drift.
+- `oven_episode0_iter4_batch/`
+  - Current batched sequential repair validation.
+- `oven_episode0_iter4_dense_geom_170_234.csv`
+  - Dense sequential geometry and visibility sweep across the reveal-to-retrieve boundary.
+
+### Historical artifacts
+
+- `oven_episode0_repaired_v1/`
+  - Useful historical reference, but not the current authoritative artifact.
+  - It still contains the old late transition and old visibility/path issues.
+- `oven_episode0_full*/`, `oven_to240_*/`, `oven_episode0_independent_v*/`
+  - Debugging history from earlier iterations.
+- `parallel_smoke_2x10/`
+  - Xvfb/worker parallelization smoke test.
+- `oven_smoke_*`
+  - Early smoke runs.
+
+## Repository Map
+
+Relevant entry points:
+
+- `code/rr_label_study/oven_study.py`
+- `code/scripts/run_oven_label_study.py`
+- `code/scripts/launch_parallel_oven_label_study.py`
+- `code/scripts/run_oven_single_frame.py`
+- `code/scripts/run_oven_frame_batch.py`
+- `code/scripts/repair_oven_episode_dense.py`
+- `code/scripts/render_oven_metric_frame.py`
+- `code/scripts/render_oven_metric_gifs.py`
+
+Relevant current artifacts:
+
+- `artifacts/results/oven_episode0_iter4_templates/templates.json`
+- `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
+- `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
 
 ## Environment
 
-The run used:
+This was run on:
 
 - Ubuntu `22.04.5`
 - Kernel `6.8.0-65-generic`
 - `96` CPU cores visible
 - `503 GiB` RAM visible
-- `NVIDIA A40` with driver `570.195.03`
-- CUDA reported by `nvidia-smi`: `12.8`
+- `NVIDIA A40`
 
 See:
 
@@ -185,24 +209,24 @@ See:
 - `environment/conda_env_rlbench.yml`
 - `environment/pip_freeze_rlbench.txt`
 
-## Upstream repos used
+## Upstream Repos Used
 
-Exact upstream revisions are recorded in `environment/repo_revisions.txt`.
+Exact revisions are recorded in `environment/repo_revisions.txt`.
 
 The local run used:
 
-- `markusgrotz/RLBench` at `8af748c51287989294e00c9c670e3330a0e35ed5`
-- `markusgrotz/PyRep` at `b8bd1d7a3182adcd570d001649c0849047ebf197`
-- `markusgrotz/peract_bimanual` at `bb0232a6ba3fe116566e9568f0c7af980ed6703d`
-- `markusgrotz/YARR` at `6822ff78602c77878b27d4cfe759ce029c67bffb`
+- `markusgrotz/RLBench`
+- `markusgrotz/PyRep`
+- `markusgrotz/peract_bimanual`
+- `markusgrotz/YARR`
 
-Those exact local source snapshots are also included under `external/`.
+Those source snapshots are included under `external/`.
 
-## Reproducing on the same hardware class
+## Reproducing On The Same Hardware Class
 
 1. Read `environment/dataset_notes.txt`.
 2. Run `environment/setup_same_hardware.sh /workspace`.
-   3. Source `environment/activate_rlbench_runtime.sh /workspace`.
+3. Source `environment/activate_rlbench_runtime.sh /workspace`.
 4. Run the dense study:
 
 ```bash
@@ -211,11 +235,10 @@ python /workspace/VLAdaptorBench_upload/code/scripts/run_oven_label_study.py \
   --result-dir /workspace/tmp_run \
   --max-episodes 1 \
   --checkpoint-stride 16 \
-  --template-episode-index 0 \
-  --independent-replay
+  --template-episode-index 0
 ```
 
-5. If the dense CSV shows the known replay contamination pattern, run the external repair pass:
+5. If you want to repair suspicious frames in parallel with the new batched path:
 
 ```bash
 python /workspace/VLAdaptorBench_upload/code/scripts/repair_oven_episode_dense.py \
@@ -225,18 +248,15 @@ python /workspace/VLAdaptorBench_upload/code/scripts/repair_oven_episode_dense.p
   --output-dir /workspace/tmp_run_repaired \
   --checkpoint-stride 16 \
   --num-workers 4 \
-  --base-display 170 \
-  --template-episode-dir /workspace/data/bimanual_take_tray_out_of_oven_train_128/all_variations/episodes/episode0
+  --base-display 170
 ```
 
-## Important note about baselines
-
-On a single deterministic episode, normalized time can become a degenerate perfect predictor for `y_ext`. That is an artifact of single-episode evaluation, not evidence that time is a useful control signal. The cleaned artifact here should be treated as a validated single-episode label trace, not as a multi-episode benchmark conclusion.
+## Important Note
 
-## Dataset note
+The full 100-episode run is not yet the authoritative artifact in this upload. The current repository state documents the repaired metric code and the targeted validation work that was necessary before scaling to the full study.
 
-The upstream RLBench demonstration dataset itself is not re-uploaded in this bundle. This repo contains the study code and all artifacts generated from the local run. The expected dataset path is documented in `environment/dataset_notes.txt`.
+## Dataset Note
 
-The cloned benchmark code is included directly in this upload under `external/`.
+The RLBench demonstration dataset itself is not re-uploaded here. This repository contains the study code and generated artifacts only. The expected dataset path is documented in `environment/dataset_notes.txt`.
 
-CoppeliaSim binaries are not included in this repo. The setup helpers expect a local extraction at `/workspace/coppelia_sim`.
+CoppeliaSim binaries are not included. The setup helpers expect a local extraction at `/workspace/coppelia_sim`.
diff --git a/artifacts/results/oven_episode0_iter2/templates.json b/artifacts/results/oven_episode0_iter2/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc39beeed30a209b632f7ee7a111c6e318cdeec4
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2/templates.json
@@ -0,0 +1,244 @@
+{
+  "templates": {
+    "approach_rel_poses": [
+      [
+        -0.36284447577179757,
+        0.08341954953162961,
+        0.13926937907313985,
+        0.6412600192919022,
+        0.6409827527870906,
+        0.29862535693182624,
+        0.29790870159257216
+      ],
+      [
+        -0.3339562037728317,
+        0.08597817122949926,
+        0.123829399129612,
+        0.6302099047870953,
+        0.6302273583819168,
+        0.32117103361854643,
+        0.3201532755096935
+      ],
+      [
+        -0.2872891338932384,
+        0.08984092640927242,
+        0.10034728162541895,
+        0.6105241991318046,
+        0.6103672514966187,
+        0.3572664406820997,
+        0.3564725949316099
+      ],
+      [
+        -0.23904203338976665,
+        0.08899223486806208,
+        0.07178204634811691,
+        0.5937699233857425,
+        0.5843451603769391,
+        0.384677856075976,
+        0.39749334418494287
+      ],
+      [
+        -0.19046952226959657,
+        0.09786257186209256,
+        0.05094144694703484,
+        0.5634784389989876,
+        0.5630020605347386,
+        0.4276660048685565,
+        0.4273435583891148
+      ],
+      [
+        -0.14928672873242044,
+        0.10114962823170283,
+        0.030087029366532292,
+        0.541168186249708,
+        0.5403455150507429,
+        0.4554541645184262,
+        0.4557688258081848
+      ],
+      [
+        -0.12217129631756263,
+        0.09345070134195246,
+        -0.006546997831216039,
+        0.5503450945485194,
+        0.5264249147312487,
+        0.4450459711257041,
+        0.47109571176286236
+      ],
+      [
+        -0.11121477625092058,
+        0.0896385488954243,
+        -0.030442970753480347,
+        0.5622227243916537,
+        0.5225037729406623,
+        0.43290100712281304,
+        0.47274954624246207
+      ]
+    ],
+    "pregrasp_rel_pose": [
+      -0.12217129631756263,
+      0.09345070134195246,
+      -0.006546997831216039,
+      0.5503450945485194,
+      0.5264249147312487,
+      0.4450459711257041,
+      0.47109571176286236
+    ],
+    "grasp_rel_pose": [
+      -0.09865615619553114,
+      0.09471180553609355,
+      -0.023587008474192483,
+      0.5452601219922814,
+      0.5150377871073674,
+      0.45379910210390734,
+      0.48113808012481835
+    ],
+    "retreat_rel_poses": [
+      [
+        0.2550484538078308,
+        0.2370874136686325,
+        0.2936859130859375,
+        0.3300555347121828,
+        0.6277176139315028,
+        0.6242842671844765,
+        0.32757151114212757
+      ],
+      [
+        0.2214498519897461,
+        0.20658132433891296,
+        0.3012295961380005,
+        0.3291563621743852,
+        0.627011226582004,
+        0.6253744234656241,
+        0.3277496627844094
+      ],
+      [
+        0.17818129062652588,
+        0.1673455387353897,
+        0.31006884574890137,
+        0.32914103039734083,
+        0.6269604179320093,
+        0.6254133198670727,
+        0.32778803484621477
+      ],
+      [
+        0.13225239515304565,
+        0.1258213222026825,
+        0.31969189643859863,
+        0.3289898231149965,
+        0.6268359223035596,
+        0.6255877414770727,
+        0.32784508614622276
+      ],
+      [
+        0.05667930841445923,
+        0.057798177003860474,
+        0.33509600162506104,
+        0.3288982919906342,
+        0.6266226412776637,
+        0.625902199977161,
+        0.3277444355402512
+      ],
+      [
+        0.05577957630157471,
+        0.05698884278535843,
+        0.3854182958602905,
+        0.32932042435184544,
+        0.6270035383371408,
+        0.6255304095701626,
+        0.3273015852702377
+      ],
+      [
+        0.056444019079208374,
+        0.04962571710348129,
+        0.51198410987854,
+        0.34171435427395064,
+        0.6289114391095123,
+        0.6139432226068627,
+        0.3328294176533067
+      ],
+      [
+        0.05564957857131958,
+        0.056753985583782196,
+        0.6027518510818481,
+        0.32894212332982753,
+        0.6266654224084302,
+        0.6259026022261591,
+        0.32761785724140696
+      ],
+      [
+        0.1099032461643219,
+        0.09394313395023346,
+        0.6021068096160889,
+        0.3294232917458771,
+        0.627133516607113,
+        0.6253952068346194,
+        0.3272073997812251
+      ],
+      [
+        0.1595928966999054,
+        0.12838931381702423,
+        0.6023930311203003,
+        0.3292082711677807,
+        0.6271354299888725,
+        0.6254546386795143,
+        0.3273065254492664
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      174,
+      186,
+      198,
+      210,
+      218,
+      224,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "episode_offset": 0
+}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/clean_targeted_frames.csv b/artifacts/results/oven_episode0_iter2_clean/clean_targeted_frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffa6b9163d1cb3b71ccfa9812fc59338136bf55c
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/clean_targeted_frames.csv
@@ -0,0 +1,10 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility
+170,0.5182926829268293,0.7285879850387573,1.0,1.0,0.7415496735430088,0.2,1.0,0.0,1.0,1.0,1.0,1.0
+178,0.5426829268292683,0.7285879850387573,1.0,1.0,0.7385616668245358,0.2,1.0,0.0,1.0,1.0,1.0,1.0
+190,0.5792682926829268,0.7285879850387573,1.0,1.0,0.5500205858126738,0.2,1.0,0.0,1.0,1.0,1.0,1.0
+200,0.6097560975609756,0.7260061502456665,1.0,1.0,0.18286217290803647,0.2,0.0,0.0,1.0,1.0,1.0,1.0
+220,0.6707317073170732,0.7092505693435669,1.0,1.0,0.3423441119861895,0.2,1.0,0.0,1.0,1.0,1.0,1.0
+234,0.7134146341463414,0.5688241720199585,1.0,0.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+260,0.7926829268292683,0.4005056619644165,1.0,0.0,1.0,0.8846083164215084,1.0,1.0,1.0,0.9954426513892534,1.0,0.9973362133268127
+321,0.9786585365853658,0.39204227924346924,1.0,1.0,0.547756387443882,1.0,1.0,1.0,0.9428571428571428,0.03988603988603989,0.9519435626102293,0.5342304300637635
+326,0.9939024390243902,0.39204227924346924,1.0,1.0,0.547364242660859,1.0,1.0,1.0,0.9428571428571428,0.03988603988603989,0.9519435626102293,0.5342304300637635
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_170.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_170.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f8f64930706571ce7bc60754543660c0c3f49
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_170.json
@@ -0,0 +1 @@
+{"frame_index": 170, "time_norm": 0.5182926829268293, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.7415496735430088, "p_ext": 0.2, "y_pre": 1.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_178.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_178.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a17d7b437e1ed054260426816cd79f49c4894f
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_178.json
@@ -0,0 +1 @@
+{"frame_index": 178, "time_norm": 0.5426829268292683, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.7385616668245358, "p_ext": 0.2, "y_pre": 1.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_190.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_190.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a42a86c43c953a1cff226a79ca5fd22f4f32485
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_190.json
@@ -0,0 +1 @@
+{"frame_index": 190, "time_norm": 0.5792682926829268, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.5500205858126738, "p_ext": 0.2, "y_pre": 1.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_200.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_200.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0fac93185aae5903bbef1ffdeed0be685dcb93d
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_200.json
@@ -0,0 +1 @@
+{"frame_index": 200, "time_norm": 0.6097560975609756, "door_angle": 0.7260061502456665, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.18286217290803647, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_220.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_220.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d195309a57b559cbcc4da1450d2b17f89a5cf13
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_220.json
@@ -0,0 +1 @@
+{"frame_index": 220, "time_norm": 0.6707317073170732, "door_angle": 0.7092505693435669, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.3423441119861895, "p_ext": 0.2, "y_pre": 1.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_232.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_232.json
new file mode 100644
index 0000000000000000000000000000000000000000..79cd47950e16a9c0854f9f141c8f9c2c4473fea9
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_232.json
@@ -0,0 +1 @@
+{"frame_index": 232, "time_norm": 0.7073170731707317, "door_angle": 0.5788911581039429, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "p_pre": 0.7437733045947881, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_234.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_234.json
new file mode 100644
index 0000000000000000000000000000000000000000..88fec1ec3e5ff124f013521b57efa842bf71013c
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_234.json
@@ -0,0 +1 @@
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diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_260.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_260.json
new file mode 100644
index 0000000000000000000000000000000000000000..4609a00cc85f92d22bedad89b4ab0514527492fc
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_260.json
@@ -0,0 +1 @@
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diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_321.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_321.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dd46d0bfce56a18c5a0fcd2289bf1026230224
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_clean/frames/frame_321.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_clean/frames/frame_326.json b/artifacts/results/oven_episode0_iter2_clean/frames/frame_326.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1100e0e5434e65887c657ce23ac66e6de4df36
--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_170.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_170.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_175.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_175.json
new file mode 100644
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_178.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_178.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_178.json
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_180.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_180.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_180.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_185.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_185.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_190.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_190.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_190.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_200.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_200.json
new file mode 100644
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+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_200.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_210.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_210.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_220.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_220.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_220.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_225.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_225.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_225.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_228.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_228.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_228.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_230.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_230.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_232.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_232.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_234.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_234.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_236.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_236.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_240.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_240.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_240.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_260.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_260.json
new file mode 100644
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+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_260.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_280.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_280.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_280.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_321.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_321.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/artifacts/results/oven_episode0_iter2_parallel/frames/frame_326.json b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_326.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/frames/frame_326.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter2_parallel/targeted_frames.csv b/artifacts/results/oven_episode0_iter2_parallel/targeted_frames.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53172cebbdec465201a3f5b4e9488bc079241ed6
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter2_parallel/targeted_frames.csv
@@ -0,0 +1,21 @@
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diff --git a/artifacts/results/oven_episode0_iter2_parallel/templates.json b/artifacts/results/oven_episode0_iter2_parallel/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac9fdbd9b15c60a7dbdf88fa89218984765c27aa
--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/artifacts/results/oven_episode0_iter3_templates/templates.json b/artifacts/results/oven_episode0_iter3_templates/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71c5f8edf8a6ec9b46a48054af9bc99fc576016
--- /dev/null
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter3_templates/templates.pkl b/artifacts/results/oven_episode0_iter3_templates/templates.pkl
new file mode 100644
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+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0170.json
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0177.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0177.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b69ee68c08a22c1c8893eca32a8db6c90d41515
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0177.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0178.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0178.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0478c1bbf5513483adab780a116038b211221f5
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0178.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0180.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0180.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae274addcea37d5ef36971f18a5e15b9ad6e706f
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0180.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0185.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0185.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9eb2d42c19bb9743fb46929a710691b0855d4a2
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0185.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0190.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0190.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0190.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0195.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0195.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0195.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0200.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0200.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0200.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0205.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0205.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0205.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0210.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0210.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0210.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0215.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0215.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0215.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0220.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0220.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0220.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0225.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0225.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0225.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0229.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0229.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0229.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0232.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0232.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0232.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0234.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0234.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a7fc493ebaa5741759740a9b2ec4ee6840b877d
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0234.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0260.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0260.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb99cd58986e0a29ca421c2021bd3f0be5874e4
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0260.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0321.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0321.json
new file mode 100644
index 0000000000000000000000000000000000000000..e595597619025d55aa70180c575f5d3851f1fa69
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0321.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/frames/frame_0326.json b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0326.json
new file mode 100644
index 0000000000000000000000000000000000000000..e928227724967fb03f1e6864e005e08a54819970
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/frames/frame_0326.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv b/artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv
new file mode 100644
index 0000000000000000000000000000000000000000..669f22e1d3a361f77f321682ade9a7e3a90df82a
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv
@@ -0,0 +1,20 @@
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diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_170.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_170.json
new file mode 100644
index 0000000000000000000000000000000000000000..13085fe6e3659cf43617fca3245e50b929037c81
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_170.json
@@ -0,0 +1 @@
+{"frame_index": 170, "time_norm": 0.5182926829268293, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28181150502513785, "p_pre": 0.024926145760119495, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_177.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_177.json
new file mode 100644
index 0000000000000000000000000000000000000000..257aadc2b60b84dec9ce640dae2a440e2451ccbf
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_177.json
@@ -0,0 +1 @@
+{"frame_index": 177, "time_norm": 0.5396341463414634, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28100607871554506, "p_pre": 0.025159635479918507, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_178.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_178.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6086f15bcb7ce0946997e4b5a43949585f78d
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_178.json
@@ -0,0 +1 @@
+{"frame_index": 178, "time_norm": 0.5426829268292683, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28016274838547717, "p_pre": 0.025392430246795165, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_180.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_180.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eedf923468d7dd19c03e7da6ea102b49bdc8012
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_180.json
@@ -0,0 +1 @@
+{"frame_index": 180, "time_norm": 0.5487804878048781, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2757018335800256, "p_pre": 0.026645754954075018, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_185.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_185.json
new file mode 100644
index 0000000000000000000000000000000000000000..142092eb3a37b68d10d08cc36cd7395116160946
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_185.json
@@ -0,0 +1 @@
+{"frame_index": 185, "time_norm": 0.5640243902439024, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.25346037204336336, "p_pre": 0.03390047712648768, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_190.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_190.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe62f3e46ec5790caa0f5bd982e1108409550a0
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_190.json
@@ -0,0 +1 @@
+{"frame_index": 190, "time_norm": 0.5792682926829268, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.08387960706889319, "pregrasp_distance": 0.23092743062096366, "p_pre": 0.04336807334152367, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_195.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_195.json
new file mode 100644
index 0000000000000000000000000000000000000000..572997b3d72e2c69c25e63af20919fa345150db6
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_195.json
@@ -0,0 +1 @@
+{"frame_index": 195, "time_norm": 0.5945121951219512, "door_angle": 0.7285879850387573, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.16872694434990165, "pregrasp_distance": 0.2095398731070866, "p_pre": 0.05490348088172403, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_200.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_200.json
new file mode 100644
index 0000000000000000000000000000000000000000..2546ecb04ea17fa351378f41a651745eac2ce02f
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_200.json
@@ -0,0 +1 @@
+{"frame_index": 200, "time_norm": 0.6097560975609756, "door_angle": 0.7260061502456665, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.25386755850182585, "pregrasp_distance": 0.18807838898735382, "p_pre": 0.06971799491752735, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_205.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_205.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca1ed1fb285a7baa4d92418efbeb3a8b93c94959
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_205.json
@@ -0,0 +1 @@
+{"frame_index": 205, "time_norm": 0.625, "door_angle": 0.7216047048568726, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.3457344069441979, "pregrasp_distance": 0.16492141591393497, "p_pre": 0.0903658989204978, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_210.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_210.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c01d10ecb2e6d7d2414202ca2e2118d4795bca
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_210.json
@@ -0,0 +1 @@
+{"frame_index": 210, "time_norm": 0.6402439024390244, "door_angle": 0.709250807762146, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.4415760202329997, "pregrasp_distance": 0.14076251968439568, "p_pre": 0.17345187783111674, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_215.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_215.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b29603445525a9305bbed8e33cdb11cead4df21
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_215.json
@@ -0,0 +1 @@
+{"frame_index": 215, "time_norm": 0.6554878048780488, "door_angle": 0.7092505693435669, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.5665893425197819, "pregrasp_distance": 0.10925028009784275, "p_pre": 0.3738766568389852, "p_ext": 0.2, "y_pre": 1.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_220.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_220.json
new file mode 100644
index 0000000000000000000000000000000000000000..a731b627b3a6a92b2a682792eb7b748e29332278
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_220.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_225.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_225.json
new file mode 100644
index 0000000000000000000000000000000000000000..83650396f7b104102bb9eb35678d356847773201
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_225.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_229.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_229.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b0af35adbb357a2bf097496c8acd2c585ec045
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_229.json
@@ -0,0 +1 @@
+{"frame_index": 229, "time_norm": 0.698170731707317, "door_angle": 0.6054912805557251, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.999999999999999, "pregrasp_distance": 2.5438405243138006e-16, "p_pre": 0.634667028906967, "p_ext": 0.2, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 1.0, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 1.0}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_232.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_232.json
new file mode 100644
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--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_232.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_234.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_234.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c3aca7b2b0f35aa5090f2116834c007d5d1269
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_234.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_260.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_260.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb99cd58986e0a29ca421c2021bd3f0be5874e4
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_260.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_321.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_321.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70ddc669187fb2579c927215bad069f0f25070e
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_321.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/frames/frame_326.json b/artifacts/results/oven_episode0_iter4_clean/frames/frame_326.json
new file mode 100644
index 0000000000000000000000000000000000000000..a334c859d5e56e1db018b5d1c809d0d549d0a6ee
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/frames/frame_326.json
@@ -0,0 +1 @@
+{"frame_index": 326, "time_norm": 0.9939024390243902, "door_angle": 0.39204227924346924, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.8958882795157832, "pregrasp_distance": 0.026243550691871037, "p_pre": 0.7247955255965786, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.9428571428571428, "three_view_whole_tray_visibility": 0.03988603988603989, "full_view_visibility": 0.9519435626102293, "full_view_whole_tray_visibility": 0.5342304300637635}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv b/artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b62249f761d6a4e7afe2ec049a8d12df36f3818
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv
@@ -0,0 +1,20 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre_new,p_ext_new,y_pre_new,y_ext_new,three_view_visibility_new,three_view_whole_tray_visibility,full_view_visibility_new,full_view_whole_tray_visibility,three_view_visibility_old,full_view_visibility_old,p_pre_old,p_ext_old,y_pre_old,y_ext_old
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0215.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0215.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b29603445525a9305bbed8e33cdb11cead4df21
--- /dev/null
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0220.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0220.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84c8f857d94e4864e03325d474ffbce034fdb7b
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0220.json
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0225.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0225.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0229.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0229.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0232.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0232.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0234.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0234.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0260.json b/artifacts/results/oven_episode0_iter4_postfix/frames/frame_0260.json
new file mode 100644
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--- /dev/null
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diff --git a/artifacts/results/oven_episode0_iter4_templates/templates.json b/artifacts/results/oven_episode0_iter4_templates/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..056523037db0fba32da8a6e3818d156122aaf1c7
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_templates/templates.json
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+      ],
+      [
+        0.221244215965271,
+        0.20688849687576294,
+        0.3002833127975464,
+        0.3292885163380546,
+        0.6271931006704827,
+        0.6253322436387267,
+        0.3273491599882069
+      ],
+      [
+        0.17807158827781677,
+        0.1677524298429489,
+        0.3093146085739136,
+        0.32919632769405477,
+        0.6270624877301076,
+        0.6254655601173186,
+        0.327437394659813
+      ],
+      [
+        0.13220348954200745,
+        0.12612853944301605,
+        0.31884193420410156,
+        0.32914589261404914,
+        0.6269362269018056,
+        0.6255871950411227,
+        0.3274974964392992
+      ],
+      [
+        0.05665704607963562,
+        0.058253899216651917,
+        0.3343541622161865,
+        0.32899159340063977,
+        0.6266804961554077,
+        0.6259905723890492,
+        0.32737118152053446
+      ],
+      [
+        0.05581793189048767,
+        0.05749707296490669,
+        0.3846430778503418,
+        0.3293386071886462,
+        0.627071911376113,
+        0.6256715598644463,
+        0.3268822401950609
+      ],
+      [
+        0.05590200424194336,
+        0.05736253783106804,
+        0.5161386728286743,
+        0.3289112791996169,
+        0.6269013967987735,
+        0.6259521928176579,
+        0.327102218601134
+      ],
+      [
+        0.05597969889640808,
+        0.057216957211494446,
+        0.6017528772354126,
+        0.3290348538824294,
+        0.6269066123806588,
+        0.6258472590645457,
+        0.3271687219239798
+      ],
+      [
+        0.11018270254135132,
+        0.09436702728271484,
+        0.6009765863418579,
+        0.32955707493597264,
+        0.627400904118369,
+        0.6253031187477396,
+        0.32673574881767814
+      ],
+      [
+        0.1598273515701294,
+        0.12876200675964355,
+        0.6012141704559326,
+        0.32936566238197895,
+        0.6274199327687918,
+        0.6253114185129905,
+        0.3268763042579814
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      163
+    ]
+  },
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  }
+}
\ No newline at end of file
diff --git a/artifacts/results/oven_episode0_iter4_templates/templates.pkl b/artifacts/results/oven_episode0_iter4_templates/templates.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..41de8d080ccd3c4ec464c450a04a0542915abba2
--- /dev/null
+++ b/artifacts/results/oven_episode0_iter4_templates/templates.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b27c89e6a603bcd22adf2a3bd07ccbe9c8e9a1140f05a1eb1857b8edbf171a
+size 2241
diff --git a/code/rr_label_study/oven_study.py b/code/rr_label_study/oven_study.py
index 538355b56b53c9a3e524f951e5a6490509c85e8c..3ed58577fb2029f7bd32b4c4c0571363a8a0cff7 100644
--- a/code/rr_label_study/oven_study.py
+++ b/code/rr_label_study/oven_study.py
@@ -3,7 +3,7 @@ import json
 import math
 import os
 import pickle
-from dataclasses import dataclass, asdict
+from dataclasses import dataclass, field
 from pathlib import Path
 from typing import Dict, Iterable, List, Optional, Sequence, Tuple
 
@@ -45,13 +45,22 @@ DISPLAY = ":99"
 DEMO_DT = 0.05
 DEFAULT_IMAGE_SIZE = (128, 128)
 DEFAULT_PATH_SCALE = 0.75
+DEFAULT_PPRE_TAU = 0.45
 DEFAULT_VISIBILITY_TAU = 0.35
 DEFAULT_PEXT_TAU = 0.45
 DEFAULT_DOOR_SPEED_TAU = 0.08
+DEFAULT_PHASE_SCORE_TAU = 0.2
+DEFAULT_APPROACH_SPEED_TAU = 0.01
+DEFAULT_APPROACH_PROGRESS_TAU = 0.02
+DEFAULT_APPROACH_ONSET_WINDOW = 96
+DEFAULT_PREGRASP_CANDIDATE_COUNT = 4
 DEFAULT_PLAN_TRIALS = 48
 DEFAULT_PLAN_MAX_CONFIGS = 4
 DEFAULT_PLAN_MAX_TIME_MS = 10
 DEFAULT_PLAN_TRIALS_PER_GOAL = 4
+DEFAULT_READY_PERSISTENCE = 3
+DEFAULT_RETRIEVE_PERSISTENCE = 3
+DEFAULT_MASK_HANDLE_COUNT = 2
 
 
 @dataclass
@@ -87,9 +96,12 @@ class MotionTemplates:
     hold_open_angle: float
     open_more_delta: float
     reference_tray_height: float
+    approach_rel_poses: List[np.ndarray] = field(default_factory=list)
+    mask_handle_ids: List[int] = field(default_factory=list)
 
     def to_json(self) -> Dict[str, object]:
         return {
+            "approach_rel_poses": [pose.tolist() for pose in self.approach_rel_poses],
             "pregrasp_rel_pose": self.pregrasp_rel_pose.tolist(),
             "grasp_rel_pose": self.grasp_rel_pose.tolist(),
             "retreat_rel_poses": [pose.tolist() for pose in self.retreat_rel_poses],
@@ -98,6 +110,7 @@ class MotionTemplates:
             "hold_open_angle": float(self.hold_open_angle),
             "open_more_delta": float(self.open_more_delta),
             "reference_tray_height": float(self.reference_tray_height),
+            "mask_handle_ids": [int(handle) for handle in self.mask_handle_ids],
         }
 
 
@@ -111,7 +124,7 @@ class EpisodeArtifacts:
 
 
 def _configure_runtime() -> None:
-    os.environ["DISPLAY"] = DISPLAY
+    os.environ["DISPLAY"] = os.environ.get("DISPLAY", DISPLAY)
     os.environ["COPPELIASIM_ROOT"] = "/workspace/coppelia_sim"
     ld_library_path = os.environ.get("LD_LIBRARY_PATH", "")
     if "/workspace/coppelia_sim" not in ld_library_path:
@@ -204,8 +217,15 @@ def _load_depth_meters(episode_dir: Path, demo: Demo, frame_index: int, camera_n
 
 
 def _load_mask(episode_dir: Path, frame_index: int, camera_name: str) -> np.ndarray:
-    image = np.array(Image.open(_camera_file(episode_dir, camera_name, "mask", frame_index)))
-    return rgb_handles_to_mask(image)
+    image = np.asarray(
+        Image.open(_camera_file(episode_dir, camera_name, "mask", frame_index)),
+        dtype=np.float32,
+    )
+    if image.ndim == 2:
+        image = np.repeat(image[..., None], 3, axis=2)
+    if image.max() > 1.0:
+        image /= 255.0
+    return rgb_handles_to_mask(image.copy())
 
 
 def _capture_snapshot(task) -> SimulatorSnapshot:
@@ -431,6 +451,36 @@ def _first_transition(demo: Demo, side: str, open_to_closed: bool) -> int:
     raise RuntimeError(f"no gripper transition found for {side}")
 
 
+def _detect_pregrasp_approach_onset(
+    cache: ReplayCache,
+    left_close: int,
+    pregrasp_rel_pose: np.ndarray,
+) -> int:
+    distances: List[float] = []
+    for frame_index in range(left_close):
+        cache.step_to(frame_index)
+        tray_pose = Shape("tray").get_pose()
+        target_pose = _apply_relative_pose(tray_pose, pregrasp_rel_pose)
+        current_pose = np.asarray(cache.current_obs.left.gripper_pose, dtype=np.float64)
+        distances.append(float(np.linalg.norm(current_pose[:3] - target_pose[:3])))
+
+    distances_arr = np.asarray(distances, dtype=np.float64)
+    if len(distances_arr) < 8:
+        return max(0, left_close - 24)
+
+    search_start = max(8, left_close - DEFAULT_APPROACH_ONSET_WINDOW)
+    for frame_index in range(search_start, max(search_start, left_close - 6)):
+        window = distances_arr[frame_index : frame_index + 6]
+        if len(window) < 6:
+            break
+        short_drop = float(window[0] - window[-1])
+        if short_drop < 0.01:
+            continue
+        if np.mean(np.diff(window)) < -0.002:
+            return frame_index
+    return max(search_start, left_close - 24)
+
+
 def _derive_templates(dataset_root: Path, template_episode_dir: Path) -> Tuple[MotionTemplates, Dict[str, int]]:
     env = _launch_replay_env()
     try:
@@ -446,23 +496,9 @@ def _derive_templates(dataset_root: Path, template_episode_dir: Path) -> Tuple[M
         right_close = _first_transition(demo, "right", open_to_closed=True)
         right_open = _first_transition(demo, "right", open_to_closed=False)
 
-        interesting = sorted(
-            {
-                pregrasp_index,
-                left_close,
-                min(len(demo) - 1, left_close + 10),
-                min(len(demo) - 1, left_close + 20),
-                min(len(demo) - 1, left_close + 30),
-                max(left_close + 1, left_open - 20),
-                max(left_close + 1, left_open - 10),
-                max(left_close + 1, left_open - 5),
-                right_close,
-                right_open,
-                left_open,
-            }
-        )
+        bootstrap_indices = sorted({pregrasp_index, left_close, right_close, right_open, left_open})
         states: Dict[int, ReplayState] = {}
-        for frame_index in interesting:
+        for frame_index in bootstrap_indices:
             cache.step_to(frame_index)
             states[frame_index] = cache.current_state()
 
@@ -472,9 +508,52 @@ def _derive_templates(dataset_root: Path, template_episode_dir: Path) -> Tuple[M
         grasp_rel_pose = _relative_pose(
             states[left_close].tray_pose, states[left_close].left_gripper_pose
         )
+
+        approach_onset = _detect_pregrasp_approach_onset(cache, left_close, pregrasp_rel_pose)
+        approach_indices = sorted(
+            {
+                *np.linspace(
+                    approach_onset,
+                    max(approach_onset, pregrasp_index),
+                    num=min(6, max(2, pregrasp_index - approach_onset + 1)),
+                    dtype=int,
+                ).tolist(),
+                pregrasp_index,
+                max(0, left_close - 2),
+            }
+        )
+        retreat_indices = sorted(
+            {
+                *[
+                    min(len(demo) - 1, max(left_close + 1, left_close + offset))
+                    for offset in (5, 10, 15, 20, 30, 40, 50)
+                ],
+                max(left_close + 1, left_open - 20),
+                max(left_close + 1, left_open - 10),
+                max(left_close + 1, left_open - 5),
+                left_open,
+            }
+        )
+        interesting = sorted(
+            {
+                *bootstrap_indices,
+                *approach_indices,
+                *retreat_indices,
+            }
+        )
+        for frame_index in interesting:
+            if frame_index not in states:
+                cache.step_to(frame_index)
+                states[frame_index] = cache.current_state()
+
+        approach_rel_poses = [
+            _relative_pose(states[index].tray_pose, states[index].left_gripper_pose)
+            for index in approach_indices
+            if index < left_close
+        ]
         retreat_rel_poses = [
             _relative_pose(base_pose, states[index].left_gripper_pose)
-            for index in interesting
+            for index in retreat_indices
             if index > left_close
         ]
         grasp_local_center = _world_to_local(
@@ -492,12 +571,22 @@ def _derive_templates(dataset_root: Path, template_episode_dir: Path) -> Tuple[M
                 float(states[right_open].door_angle - states[right_close].door_angle) * 0.25,
             ),
             reference_tray_height=float(states[left_close].tray_pose[2]),
+            approach_rel_poses=approach_rel_poses,
+        )
+        templates.mask_handle_ids = _infer_tray_mask_handle_ids(
+            episode_dir=template_episode_dir,
+            demo=demo,
+            cache=cache,
+            templates=templates,
+            reference_frames=approach_indices[-4:] + [left_close],
         )
         template_frames = {
             "pregrasp": pregrasp_index,
             "grasp": left_close,
             "right_close": right_close,
             "right_open": right_open,
+            "approach": approach_indices,
+            "retreat": retreat_indices,
         }
         return templates, template_frames
     finally:
@@ -541,17 +630,58 @@ def _sample_full_tray_points(tray_pose: np.ndarray) -> np.ndarray:
     return np.array([_local_to_world(tray_pose, point) for point in points_local], dtype=np.float64)
 
 
-def _visibility_ratio(
+def _infer_tray_mask_handle_ids(
+    episode_dir: Path,
+    demo: Demo,
+    cache: ReplayCache,
+    templates: MotionTemplates,
+    reference_frames: Sequence[int],
+    max_handles: int = DEFAULT_MASK_HANDLE_COUNT,
+) -> List[int]:
+    counts: Dict[int, int] = {}
+    unique_frames = sorted({int(frame_index) for frame_index in reference_frames})
+    for frame_index in unique_frames:
+        cache.step_to(frame_index)
+        grasp_points = _sample_grasp_points(templates, Shape("tray").get_pose())
+        for camera_name in FULL_CAMERA_SET:
+            mask = _load_mask(episode_dir, frame_index, camera_name)
+            extrinsics = demo[frame_index].misc[f"{camera_name}_camera_extrinsics"]
+            intrinsics = demo[frame_index].misc[f"{camera_name}_camera_intrinsics"]
+            uv, camera_xyz = _project_points(grasp_points, extrinsics, intrinsics)
+            height, width = mask.shape
+            for (u, v), (_, _, camera_depth) in zip(uv, camera_xyz):
+                if camera_depth <= 0 or not (0 <= u < width and 0 <= v < height):
+                    continue
+                px = min(max(int(round(float(u))), 0), width - 1)
+                py = min(max(int(round(float(v))), 0), height - 1)
+                handle = int(mask[py, px])
+                if handle == 0:
+                    continue
+                counts[handle] = counts.get(handle, 0) + 1
+    if not counts:
+        return []
+    ranked = sorted(counts.items(), key=lambda item: item[1], reverse=True)
+    top_count = ranked[0][1]
+    selected = [
+        handle
+        for handle, count in ranked
+        if count >= max(4, int(math.ceil(top_count * 0.5)))
+    ][:max_handles]
+    return selected if selected else [ranked[0][0]]
+
+
+def _mask_visibility_ratio(
     points_world: np.ndarray,
-    depth_m: np.ndarray,
     mask: np.ndarray,
-    tray_handle: int,
+    handle_ids: Sequence[int],
     extrinsics: np.ndarray,
     intrinsics: np.ndarray,
-    depth_tol: float = 0.02,
 ) -> float:
+    if not handle_ids:
+        return 0.0
+    handle_set = {int(handle) for handle in handle_ids}
     uv, camera_xyz = _project_points(points_world, extrinsics, intrinsics)
-    height, width = depth_m.shape
+    height, width = mask.shape
     visible = 0
     total = 0
     for (u, v), (_, _, camera_depth) in zip(uv, camera_xyz):
@@ -564,8 +694,7 @@ def _visibility_ratio(
         py = int(round(v))
         px = min(max(px, 0), width - 1)
         py = min(max(py, 0), height - 1)
-        observed = float(depth_m[py, px])
-        if abs(observed - camera_depth) <= depth_tol:
+        if int(mask[py, px]) in handle_set:
             visible += 1
     return float(visible / total) if total else 0.0
 
@@ -639,15 +768,49 @@ def _path_length(path) -> float:
         return math.inf
 
 
+def _dedupe_pose_list(poses: Iterable[np.ndarray], precision: int = 4) -> List[np.ndarray]:
+    unique: List[np.ndarray] = []
+    seen = set()
+    for pose in poses:
+        key = tuple(np.round(np.asarray(pose, dtype=np.float64), precision))
+        if key in seen:
+            continue
+        seen.add(key)
+        unique.append(np.asarray(pose, dtype=np.float64))
+    return unique
+
+
+def _pregrasp_progress_and_distance(
+    current_pose: np.ndarray,
+    tray_pose: np.ndarray,
+    templates: MotionTemplates,
+) -> Tuple[float, float]:
+    goal_pose = _apply_relative_pose(tray_pose, templates.pregrasp_rel_pose)
+    if templates.approach_rel_poses:
+        start_pose = _apply_relative_pose(tray_pose, templates.approach_rel_poses[0])
+        span = float(np.linalg.norm(start_pose[:3] - goal_pose[:3]))
+    else:
+        span = 0.12
+    distance = float(np.linalg.norm(current_pose[:3] - goal_pose[:3]))
+    progress = 1.0 - (distance / max(span, 1e-6))
+    return float(np.clip(progress, 0.0, 1.0)), distance
+
+
 def _pregrasp_candidates(tray_pose: np.ndarray, templates: MotionTemplates) -> List[np.ndarray]:
-    candidates = []
-    base = _apply_relative_pose(tray_pose, templates.pregrasp_rel_pose)
-    candidates.append(base)
-    for dx in (-0.02, 0.02):
-        perturbed = base.copy()
-        perturbed[0] += dx
-        candidates.append(perturbed)
-    return candidates
+    if templates.approach_rel_poses:
+        rel_poses = templates.approach_rel_poses[-min(
+            DEFAULT_PREGRASP_CANDIDATE_COUNT, len(templates.approach_rel_poses)
+        ) :]
+    else:
+        rel_poses = [templates.pregrasp_rel_pose]
+    candidates = [_apply_relative_pose(tray_pose, rel_pose) for rel_pose in rel_poses]
+    for rel_pose in rel_poses[-1:]:
+        base = _apply_relative_pose(tray_pose, rel_pose)
+        for dx in (-0.02, 0.02):
+            perturbed = base.copy()
+            perturbed[0] += dx
+            candidates.append(perturbed)
+    return _dedupe_pose_list(candidates)
 
 
 def _extract_sequence_poses(
@@ -657,9 +820,17 @@ def _extract_sequence_poses(
         _apply_relative_pose(tray_pose, templates.pregrasp_rel_pose),
         _apply_relative_pose(tray_pose, templates.grasp_rel_pose),
     ]
-    poses.extend(
-        _apply_relative_pose(task_base_pose, pose) for pose in templates.retreat_rel_poses[:3]
-    )
+    if templates.retreat_rel_poses:
+        retreat_indices = np.linspace(
+            0,
+            len(templates.retreat_rel_poses) - 1,
+            num=min(3, len(templates.retreat_rel_poses)),
+            dtype=int,
+        )
+        poses.extend(
+            _apply_relative_pose(task_base_pose, templates.retreat_rel_poses[index])
+            for index in sorted(set(retreat_indices.tolist()))
+        )
     return poses
 
 
@@ -682,14 +853,21 @@ def _pregrasp_score_and_success(task, templates: MotionTemplates) -> Tuple[float
     ):
         return 1.0, True
     tray_pose = Shape("tray").get_pose()
-    best = 0.0
-    success = False
+    current_pose = np.asarray(task._scene.robot.left_gripper.get_pose(), dtype=np.float64)
+    progress, distance_to_pregrasp = _pregrasp_progress_and_distance(
+        current_pose, tray_pose, templates
+    )
+    best = progress
+    success = distance_to_pregrasp <= 0.08
     for pose in _pregrasp_candidates(tray_pose, templates):
+        proximity = math.exp(-float(np.linalg.norm(current_pose[:3] - pose[:3])) / 0.09)
+        best = max(best, 0.7 * progress + 0.3 * proximity)
         path = _plan_path(task._scene, "left", pose, ignore_collisions=False)
         length = _path_length(path)
         if np.isfinite(length):
             success = True
-            best = max(best, math.exp(-length / DEFAULT_PATH_SCALE))
+            planner_score = math.exp(-length / DEFAULT_PATH_SCALE)
+            best = max(best, 0.6 * progress + 0.25 * planner_score + 0.15 * proximity)
     return best, success
 
 
@@ -710,27 +888,34 @@ def _extract_score_and_success(task, templates: MotionTemplates) -> Tuple[float,
             tray.get_pose(), task._task.get_base().get_pose(), templates
         )
         approach_poses = [] if already_grasped else poses[:2]
-        retreat_poses = poses[2:] if not already_grasped else poses[2:]
-
-        for pose in approach_poses:
-            path = _plan_path(task._scene, "left", pose, ignore_collisions=False)
+        retreat_poses = poses[2:]
+        milestone_poses = approach_poses + retreat_poses
+        milestone_collision = ([False] * len(approach_poses)) + ([True] * len(retreat_poses))
+        progress = _extraction_progress_score(current_height, templates) * 0.25
+        milestone_weight = 0.75 / max(1, len(milestone_poses))
+
+        for milestone_index, (pose, ignore_collisions) in enumerate(
+            zip(milestone_poses, milestone_collision)
+        ):
+            path = _plan_path(task._scene, "left", pose, ignore_collisions=ignore_collisions)
             if path is None:
-                return 0.0, False
-            total_length += _path_length(path)
+                return progress, False
+            length = _path_length(path)
+            total_length += length
+            progress += milestone_weight * math.exp(-length / DEFAULT_PATH_SCALE)
             path.set_to_end(disable_dynamics=True)
             task._pyrep.step()
+            current_height = float(tray.get_position()[2])
+            progress = max(progress, _extraction_progress_score(current_height, templates) * 0.25)
+            if (not already_grasped) and milestone_index == (len(approach_poses) - 1):
+                robot.left_gripper.grasp(tray)
+                already_grasped = True
         if not already_grasped:
             robot.left_gripper.grasp(tray)
-        for pose in retreat_poses:
-            path = _plan_path(task._scene, "left", pose, ignore_collisions=True)
-            if path is None:
-                return 0.0, False
-            total_length += _path_length(path)
-            path.set_to_end(disable_dynamics=True)
-            task._pyrep.step()
         final_height = float(tray.get_position()[2])
         success = final_height >= _extract_height_threshold(templates)
         score = max(
+            progress,
             math.exp(-total_length / (DEFAULT_PATH_SCALE * 2.5)),
             _extraction_progress_score(final_height, templates) if success else 0.0,
         )
@@ -765,22 +950,20 @@ def _frame_metrics(
     demo: Demo,
     frame_state: ReplayState,
     templates: MotionTemplates,
-    tray_handle: int,
 ) -> Dict[str, float]:
     grasp_points = _sample_grasp_points(templates, frame_state.tray_pose)
     full_tray_points = _sample_full_tray_points(frame_state.tray_pose)
     camera_values: Dict[str, Dict[str, float]] = {}
     for camera_name in FULL_CAMERA_SET:
-        depth_m = _load_depth_meters(episode_dir, demo, frame_state.frame_index, camera_name)
         mask = _load_mask(episode_dir, frame_state.frame_index, camera_name)
         extrinsics = demo[frame_state.frame_index].misc[f"{camera_name}_camera_extrinsics"]
         intrinsics = demo[frame_state.frame_index].misc[f"{camera_name}_camera_intrinsics"]
         camera_values[camera_name] = {
-            "grasp_visibility": _visibility_ratio(
-                grasp_points, depth_m, mask, tray_handle, extrinsics, intrinsics
+            "grasp_visibility": _mask_visibility_ratio(
+                grasp_points, mask, templates.mask_handle_ids, extrinsics, intrinsics
             ),
-            "tray_visibility": _visibility_ratio(
-                full_tray_points, depth_m, mask, tray_handle, extrinsics, intrinsics
+            "tray_visibility": _mask_visibility_ratio(
+                full_tray_points, mask, templates.mask_handle_ids, extrinsics, intrinsics
             ),
         }
 
@@ -802,28 +985,59 @@ def _compute_frame_row_isolated(
     checkpoint_stride: int,
     frame_index: int,
 ) -> Dict[str, float]:
+    rows = _compute_frame_rows_sequential(
+        episode_dir=episode_dir,
+        demo=demo,
+        templates=templates,
+        checkpoint_stride=checkpoint_stride,
+        frame_indices=[frame_index],
+    )
+    if not rows:
+        raise RuntimeError(f"failed to compute frame {frame_index}")
+    return rows[0]
+
+
+def _compute_frame_rows_sequential(
+    episode_dir: Path,
+    demo: Demo,
+    templates: MotionTemplates,
+    checkpoint_stride: int,
+    frame_indices: Sequence[int],
+) -> List[Dict[str, float]]:
     env = _launch_replay_env()
     try:
         task = env.get_task(BimanualTakeTrayOutOfOven)
         cache = ReplayCache(task, demo, checkpoint_stride=checkpoint_stride)
         cache.reset()
-        cache.step_to(frame_index)
-        state = cache.current_state()
-        visibility = _frame_metrics(episode_dir, demo, state, templates, Shape("tray").get_handle())
-        p_pre, y_pre = _pregrasp_score_and_success(task, templates)
-        p_ext, y_ext = _extract_score_and_success(task, templates)
-        return {
-            "frame_index": frame_index,
-            "time_norm": frame_index / max(1, len(demo) - 1),
-            "door_angle": state.door_angle,
-            "right_gripper_open": state.right_gripper_open,
-            "left_gripper_open": state.left_gripper_open,
-            "p_pre": p_pre,
-            "p_ext": p_ext,
-            "y_pre": float(bool(y_pre)),
-            "y_ext": float(bool(y_ext)),
-            **visibility,
-        }
+        rows: List[Dict[str, float]] = []
+        for frame_index in sorted({int(index) for index in frame_indices}):
+            cache.step_to(frame_index)
+            state = cache.current_state()
+            visibility = _frame_metrics(episode_dir, demo, state, templates)
+            pregrasp_progress, pregrasp_distance = _pregrasp_progress_and_distance(
+                np.asarray(state.left_gripper_pose, dtype=np.float64),
+                np.asarray(state.tray_pose, dtype=np.float64),
+                templates,
+            )
+            p_pre, y_pre = _pregrasp_score_and_success(task, templates)
+            p_ext, y_ext = _extract_score_and_success(task, templates)
+            rows.append(
+                {
+                    "frame_index": frame_index,
+                    "time_norm": frame_index / max(1, len(demo) - 1),
+                    "door_angle": state.door_angle,
+                    "right_gripper_open": state.right_gripper_open,
+                    "left_gripper_open": state.left_gripper_open,
+                    "pregrasp_progress": pregrasp_progress,
+                    "pregrasp_distance": pregrasp_distance,
+                    "p_pre": p_pre,
+                    "p_ext": p_ext,
+                    "y_pre": float(bool(y_pre)),
+                    "y_ext": float(bool(y_ext)),
+                    **visibility,
+                }
+            )
+        return rows
     finally:
         env.shutdown()
 
@@ -856,13 +1070,91 @@ def _keyframe_subset(frame_df: pd.DataFrame, keyframes: Sequence[int]) -> pd.Dat
     return key_df
 
 
+def _persistent_rise_mask(binary_values: np.ndarray, window: int) -> np.ndarray:
+    binary_values = np.asarray(binary_values, dtype=bool)
+    rises = np.zeros(len(binary_values), dtype=bool)
+    if window <= 0:
+        rises[:] = binary_values
+        return rises
+    for index in range(len(binary_values)):
+        segment = binary_values[index : index + window]
+        if len(segment) == window and np.all(segment):
+            rises[index] = True
+    return rises
+
+
+def _monotone_after_first(binary_values: np.ndarray) -> np.ndarray:
+    binary_values = np.asarray(binary_values, dtype=bool)
+    monotone = np.zeros(len(binary_values), dtype=bool)
+    if np.any(binary_values):
+        first_true = int(np.flatnonzero(binary_values)[0])
+        monotone[first_true:] = True
+    return monotone
+
+
+def _annotate_phase_columns(frame_df: pd.DataFrame) -> pd.DataFrame:
+    door_speed = np.gradient(frame_df["door_angle"].to_numpy(dtype=float), DEMO_DT)
+    frame_df["door_speed_abs"] = np.abs(door_speed)
+
+    y_pre_binary = frame_df["y_pre"].to_numpy(dtype=bool)
+    y_ext_binary = frame_df["y_ext"].to_numpy(dtype=bool)
+    pregrasp_progress = (
+        frame_df["pregrasp_progress"].to_numpy(dtype=float)
+        if "pregrasp_progress" in frame_df
+        else frame_df["p_pre"].to_numpy(dtype=float)
+    )
+    pregrasp_distance = (
+        frame_df["pregrasp_distance"].to_numpy(dtype=float)
+        if "pregrasp_distance" in frame_df
+        else 1.0 - pregrasp_progress
+    )
+    pregrasp_speed = -np.gradient(pregrasp_distance, DEMO_DT)
+    frame_df["pregrasp_speed"] = pregrasp_speed
+
+    approach_speed_score = np.clip(pregrasp_speed / 0.05, 0.0, 1.0)
+    frame_df["phase_score"] = np.clip(
+        0.55 * pregrasp_progress
+        + 0.20 * approach_speed_score
+        + 0.25 * frame_df["p_pre"].to_numpy(dtype=float),
+        0.0,
+        1.0,
+    )
+    approach_active = (
+        (pregrasp_progress >= DEFAULT_APPROACH_PROGRESS_TAU)
+        & (pregrasp_speed >= DEFAULT_APPROACH_SPEED_TAU)
+    )
+    frame_df["approach_active"] = approach_active.astype(float)
+
+    retrieve_onset = _persistent_rise_mask(
+        approach_active & y_pre_binary, DEFAULT_RETRIEVE_PERSISTENCE
+    )
+    frame_df["y_retrieve"] = _monotone_after_first(retrieve_onset).astype(float)
+
+    ready_seed = np.zeros(len(frame_df), dtype=bool)
+    for index in range(len(frame_df)):
+        window = y_ext_binary[index : index + DEFAULT_READY_PERSISTENCE]
+        if (
+            len(window) == DEFAULT_READY_PERSISTENCE
+            and np.all(window)
+            and frame_df.iloc[index]["door_speed_abs"] <= DEFAULT_DOOR_SPEED_TAU
+        ):
+            ready_seed[index] = True
+    frame_df["y_ready"] = _monotone_after_first(ready_seed).astype(float)
+
+    phase_seed = _persistent_rise_mask(
+        frame_df["phase_score"].to_numpy(dtype=float) >= DEFAULT_PHASE_SCORE_TAU,
+        DEFAULT_RETRIEVE_PERSISTENCE,
+    )
+    frame_df["phase_switch"] = _monotone_after_first(phase_seed).astype(float)
+    return frame_df
+
+
 def _interventional_validity(
     task,
     cache: ReplayCache,
     episode_dir: Path,
     demo: Demo,
     templates: MotionTemplates,
-    tray_handle: int,
     frame_df: pd.DataFrame,
 ) -> Dict[str, float]:
     ready_indices = np.flatnonzero(frame_df["y_ready"].to_numpy(dtype=bool))
@@ -956,11 +1248,9 @@ def _analyze_episode(
         task = env.get_task(BimanualTakeTrayOutOfOven)
         cache = ReplayCache(task, demo, checkpoint_stride=checkpoint_stride)
         cache.reset()
-        tray_handle = Shape("tray").get_handle()
         num_frames = len(demo) if max_frames is None else min(len(demo), max_frames)
 
         rows: List[Dict[str, float]] = []
-        door_angles: List[float] = []
         initial_snapshot = cache.checkpoints[0] if independent_replay else None
         for frame_index in range(num_frames):
             if independent_replay:
@@ -968,8 +1258,12 @@ def _analyze_episode(
             cache.step_to(frame_index)
             frame_snapshot = cache.snapshot() if not independent_replay else None
             state = cache.current_state()
-            door_angles.append(state.door_angle)
-            visibility = _frame_metrics(episode_dir, demo, state, templates, tray_handle)
+            visibility = _frame_metrics(episode_dir, demo, state, templates)
+            pregrasp_progress, pregrasp_distance = _pregrasp_progress_and_distance(
+                np.asarray(state.left_gripper_pose, dtype=np.float64),
+                np.asarray(state.tray_pose, dtype=np.float64),
+                templates,
+            )
             p_pre, y_pre = _pregrasp_score_and_success(task, templates)
             p_ext, y_ext = _extract_score_and_success(task, templates)
             rows.append(
@@ -979,6 +1273,8 @@ def _analyze_episode(
                     "door_angle": state.door_angle,
                     "right_gripper_open": state.right_gripper_open,
                     "left_gripper_open": state.left_gripper_open,
+                    "pregrasp_progress": pregrasp_progress,
+                    "pregrasp_distance": pregrasp_distance,
                     "p_pre": p_pre,
                     "p_ext": p_ext,
                     "y_pre": float(bool(y_pre)),
@@ -995,54 +1291,35 @@ def _analyze_episode(
                 )
 
         frame_df = pd.DataFrame(rows)
-        door_speed = np.gradient(frame_df["door_angle"].to_numpy(), DEMO_DT)
-        frame_df["door_speed_abs"] = np.abs(door_speed)
-        y_ext_binary = frame_df["y_ext"].to_numpy(dtype=bool)
-        y_ready = np.zeros(len(frame_df), dtype=bool)
-        for i in range(len(frame_df)):
-            window = y_ext_binary[i : i + 3]
-            if len(window) == 3 and np.all(window) and frame_df.iloc[i]["door_speed_abs"] <= DEFAULT_DOOR_SPEED_TAU:
-                y_ready[i] = True
-        if np.any(y_ready):
-            first_ready = int(np.flatnonzero(y_ready)[0])
-            y_ready[first_ready:] = True
-        frame_df["y_ready"] = y_ready.astype(float)
-        phase_trigger = (
-            (frame_df["full_view_visibility"] >= DEFAULT_VISIBILITY_TAU)
-            & (frame_df["p_ext"] >= DEFAULT_PEXT_TAU)
-            & (frame_df["door_speed_abs"] <= DEFAULT_DOOR_SPEED_TAU)
-        ).to_numpy(dtype=bool)
-        phase_switch = np.zeros(len(frame_df), dtype=bool)
-        if np.any(phase_trigger):
-            first_phase = int(np.flatnonzero(phase_trigger)[0])
-            phase_switch[first_phase:] = True
-        frame_df["phase_switch"] = phase_switch.astype(float)
+        frame_df = _annotate_phase_columns(frame_df)
 
         keyframes = [index for index in _keypoint_discovery(demo) if index < num_frames]
         key_df = _keyframe_subset(frame_df, keyframes)
 
         y_pre_arr = frame_df["y_pre"].to_numpy(dtype=int)
         y_ext_arr = frame_df["y_ext"].to_numpy(dtype=int)
+        y_retrieve_arr = frame_df["y_retrieve"].to_numpy(dtype=int)
         y_ready_arr = frame_df["y_ready"].to_numpy(dtype=int)
         p_pre_arr = frame_df["p_pre"].to_numpy(dtype=float)
         p_ext_arr = frame_df["p_ext"].to_numpy(dtype=float)
         phase_arr = frame_df["phase_switch"].to_numpy(dtype=int)
-        full_vis = frame_df["full_view_visibility"].to_numpy(dtype=float)
         whole_vis = frame_df["full_view_whole_tray_visibility"].to_numpy(dtype=float)
         door_angle_arr = frame_df["door_angle"].to_numpy(dtype=float)
         time_arr = frame_df["time_norm"].to_numpy(dtype=float)
 
-        ppre_cross = _first_crossing(p_pre_arr, DEFAULT_PEXT_TAU)
+        ppre_cross = _first_crossing(p_pre_arr, DEFAULT_PPRE_TAU)
         pext_cross = _first_crossing(p_ext_arr, DEFAULT_PEXT_TAU)
         phase_cross = _first_crossing(frame_df["phase_switch"].to_numpy(dtype=float), 0.5)
+        retrieve_cross = _first_crossing(y_retrieve_arr.astype(float), 0.5)
         ready_cross = _first_crossing(y_ready_arr.astype(float), 0.5)
         phase_rises, phase_falls = _transition_count(phase_arr)
 
         key_phase_cross = _first_crossing(key_df["phase_switch"].to_numpy(dtype=float), 0.5)
+        key_retrieve_cross = _first_crossing(key_df["y_retrieve"].to_numpy(dtype=float), 0.5)
         key_ready_cross = _first_crossing(key_df["y_ready"].to_numpy(dtype=float), 0.5)
 
         interventions = _interventional_validity(
-            task, cache, episode_dir, demo, templates, tray_handle, frame_df
+            task, cache, episode_dir, demo, templates, frame_df
         )
         metrics = {
             "episode_name": episode_dir.name,
@@ -1054,14 +1331,21 @@ def _analyze_episode(
             "ppre_cross_frame": int(ppre_cross),
             "pext_cross_frame": int(pext_cross),
             "phase_cross_frame": int(phase_cross),
+            "retrieve_cross_frame": int(retrieve_cross),
             "ready_cross_frame": int(ready_cross),
             "ordering_ok": bool(ppre_cross == -1 or pext_cross == -1 or ppre_cross <= pext_cross),
+            "dense_boundary_error_to_retrieve_frames": float(abs(phase_cross - retrieve_cross))
+            if phase_cross >= 0 and retrieve_cross >= 0
+            else float("nan"),
             "dense_boundary_error_frames": float(abs(phase_cross - ready_cross))
             if phase_cross >= 0 and ready_cross >= 0
             else float("nan"),
             "dense_boundary_error_fraction": float(abs(phase_cross - ready_cross) / len(frame_df))
             if phase_cross >= 0 and ready_cross >= 0
             else float("nan"),
+            "key_boundary_error_to_retrieve_keyframes": float(abs(key_phase_cross - key_retrieve_cross))
+            if key_phase_cross >= 0 and key_retrieve_cross >= 0
+            else float("nan"),
             "key_boundary_error_keyframes": float(abs(key_phase_cross - key_ready_cross))
             if key_phase_cross >= 0 and key_ready_cross >= 0
             else float("nan"),
@@ -1073,8 +1357,13 @@ def _analyze_episode(
             "auprc_ppre_ypre": _safe_auprc(y_pre_arr, p_pre_arr),
             "auroc_pext_yext": _safe_auc(y_ext_arr, p_ext_arr),
             "auprc_pext_yext": _safe_auprc(y_ext_arr, p_ext_arr),
-            "auroc_phase_yready": _safe_auc(y_ready_arr, frame_df["phase_switch"].to_numpy(dtype=float)),
-            "auprc_phase_yready": _safe_auprc(y_ready_arr, frame_df["phase_switch"].to_numpy(dtype=float)),
+            "auroc_phase_yretrieve": _safe_auc(y_retrieve_arr, frame_df["phase_score"].to_numpy(dtype=float)),
+            "auprc_phase_yretrieve": _safe_auprc(y_retrieve_arr, frame_df["phase_score"].to_numpy(dtype=float)),
+            "f1_phase_yretrieve": float(f1_score(y_retrieve_arr, phase_arr))
+            if np.any(y_retrieve_arr) and np.any(phase_arr)
+            else float("nan"),
+            "auroc_phase_yready": _safe_auc(y_ready_arr, frame_df["phase_score"].to_numpy(dtype=float)),
+            "auprc_phase_yready": _safe_auprc(y_ready_arr, frame_df["phase_score"].to_numpy(dtype=float)),
             "f1_phase_yready": float(f1_score(y_ready_arr, phase_arr))
             if np.any(y_ready_arr) and np.any(phase_arr)
             else float("nan"),
diff --git a/code/scripts/render_oven_metric_frame.py b/code/scripts/render_oven_metric_frame.py
index 6420f73d27e1c21980a3aac90e10e1f53b2e1fe1..88d6e914668472edd84ab7688e06d2893206f56b 100644
--- a/code/scripts/render_oven_metric_frame.py
+++ b/code/scripts/render_oven_metric_frame.py
@@ -19,6 +19,7 @@ if str(PROJECT_ROOT) not in sys.path:
 
 from rr_label_study.oven_study import (
     BimanualTakeTrayOutOfOven,
+    DEFAULT_PPRE_TAU,
     FULL_CAMERA_SET,
     MotionTemplates,
     ReplayCache,
@@ -28,7 +29,6 @@ from rr_label_study.oven_study import (
     _frame_metrics,
     _launch_replay_env,
     _load_demo,
-    _load_depth_meters,
     _load_mask,
     _pregrasp_candidates,
     _project_points,
@@ -44,7 +44,6 @@ RGB_SIZE = 128
 PANEL_SIZE = 256
 HEADER_HEIGHT = 72
 FOOTER_HEIGHT = 210
-DEPTH_TOL = 0.02
 
 
 def _font(size: int) -> ImageFont.FreeTypeFont:
@@ -128,13 +127,14 @@ def _bar(draw: ImageDraw.ImageDraw, x: int, y: int, w: int, h: int, value: float
 
 def _project_coords(
     points_world: np.ndarray,
-    depth_m: np.ndarray,
+    mask: np.ndarray,
+    handle_ids: Sequence[int],
     extrinsics: np.ndarray,
     intrinsics: np.ndarray,
-    depth_tol: float = DEPTH_TOL,
 ) -> Tuple[List[Tuple[int, int]], List[Tuple[int, int]]]:
     uv, camera_xyz = _project_points(points_world, extrinsics, intrinsics)
-    height, width = depth_m.shape
+    handle_set = {int(handle) for handle in handle_ids}
+    height, width = mask.shape
     projected: List[Tuple[int, int]] = []
     visible: List[Tuple[int, int]] = []
     for (u, v), (_, _, camera_depth) in zip(uv, camera_xyz):
@@ -143,8 +143,7 @@ def _project_coords(
         px = min(max(int(round(float(u))), 0), width - 1)
         py = min(max(int(round(float(v))), 0), height - 1)
         projected.append((px, py))
-        observed = float(depth_m[py, px])
-        if abs(observed - float(camera_depth)) <= depth_tol:
+        if int(mask[py, px]) in handle_set:
             visible.append((px, py))
     return projected, visible
 
@@ -198,16 +197,15 @@ def _compose_visibility_panel(
     per_camera_vis: float,
 ) -> Image.Image:
     rgb = _load_rgb(episode_dir, camera_name, frame_index)
-    depth = _load_depth_meters(episode_dir, demo, frame_index, camera_name)
     mask = _load_mask(episode_dir, frame_index, camera_name)
     extrinsics = demo[frame_index].misc[f"{camera_name}_camera_extrinsics"]
     intrinsics = demo[frame_index].misc[f"{camera_name}_camera_intrinsics"]
+    handle_ids = templates.mask_handle_ids
 
     tray_points = _sample_full_tray_points(tray_pose)
     grasp_points = _sample_grasp_points(templates, tray_pose)
-    tray_proj, tray_visible = _project_coords(tray_points, depth, extrinsics, intrinsics)
-    grasp_proj, grasp_visible = _project_coords(grasp_points, depth, extrinsics, intrinsics)
-    handle = _infer_mask_handle(mask, grasp_proj) or _infer_mask_handle(mask, tray_proj)
+    tray_proj, tray_visible = _project_coords(tray_points, mask, handle_ids, extrinsics, intrinsics)
+    grasp_proj, grasp_visible = _project_coords(grasp_points, mask, handle_ids, extrinsics, intrinsics)
 
     scene_panel = _scale_image(rgb)
     _draw_panel_title(
@@ -240,12 +238,12 @@ def _compose_visibility_panel(
     if right_xy is not None:
         _draw_point(draw, _scaled_coords([right_xy], PANEL_SIZE / RGB_SIZE)[0], (140, 110, 255), radius=4)
 
-    if handle is None:
+    if not handle_ids:
         masked_panel = _new_panel()
         draw = ImageDraw.Draw(masked_panel)
         draw.text((10, PANEL_SIZE // 2 - 10), "no tray mask pixels", fill=(180, 180, 180), font=FONT_MD)
     else:
-        masked_panel = _masked_rgb(rgb, mask == handle)
+        masked_panel = _masked_rgb(rgb, np.isin(mask, np.asarray(handle_ids, dtype=np.int64)))
         masked_panel = _scale_image(masked_panel)
     _draw_panel_title(
         masked_panel,
@@ -281,7 +279,7 @@ def _compose_visibility_focus(
     draw.text((12, 10), f"Visibility Metric Debug | frame {frame_index}", fill=(255, 255, 255), font=FONT_LG)
     draw.text(
         (12, 40),
-        f"three_view_visibility={frame_row['three_view_visibility']:.3f} | full_view_visibility={frame_row['full_view_visibility']:.3f} | y_ready={int(frame_row['y_ready'])} | phase_switch={int(frame_row['phase_switch'])}",
+        f"three_view_visibility={frame_row['three_view_visibility']:.3f} | full_view_visibility={frame_row['full_view_visibility']:.3f} | y_ready={int(frame_row['y_ready'])} | phase_score={float(frame_row.get('phase_score', frame_row['phase_switch'])):.3f}",
         fill=(235, 235, 235),
         font=FONT_SM,
     )
@@ -310,11 +308,11 @@ def _camera_grasp_visibility(
     tray_pose: np.ndarray,
     templates: MotionTemplates,
 ) -> float:
-    depth = _load_depth_meters(episode_dir, demo, frame_index, camera_name)
+    mask = _load_mask(episode_dir, frame_index, camera_name)
     extrinsics = demo[frame_index].misc[f"{camera_name}_camera_extrinsics"]
     intrinsics = demo[frame_index].misc[f"{camera_name}_camera_intrinsics"]
     grasp_points = _sample_grasp_points(templates, tray_pose)
-    proj, vis = _project_coords(grasp_points, depth, extrinsics, intrinsics)
+    proj, vis = _project_coords(grasp_points, mask, templates.mask_handle_ids, extrinsics, intrinsics)
     return float(len(vis) / len(proj)) if proj else 0.0
 
 
@@ -389,12 +387,12 @@ def _compose_path_quality(
     text_panel = Image.new("RGB", (PANEL_SIZE, PANEL_SIZE), (18, 18, 18))
     draw = ImageDraw.Draw(text_panel)
     draw.text((12, 12), "Metric State", fill=(255, 255, 255), font=FONT_LG)
-    _bar(draw, 12, 56, PANEL_SIZE - 24, 18, float(frame_row["p_pre"]), "p_pre", (255, 220, 0), threshold=0.45)
+    _bar(draw, 12, 56, PANEL_SIZE - 24, 18, float(frame_row["p_pre"]), "p_pre", (255, 220, 0), threshold=DEFAULT_PPRE_TAU)
     _bar(draw, 12, 108, PANEL_SIZE - 24, 18, float(frame_row["p_ext"]), "p_ext", (80, 255, 120), threshold=0.45)
     draw.text((12, 146), f"y_pre={int(frame_row['y_pre'])} y_ext={int(frame_row['y_ext'])}", fill=(255, 255, 255), font=FONT_MD)
-    draw.text((12, 172), f"left_grasped={int(left_grasped)}", fill=(255, 255, 255), font=FONT_MD)
-    draw.text((12, 198), f"door_angle={float(frame_row['door_angle']):.3f}", fill=(255, 255, 255), font=FONT_MD)
-    draw.text((12, 224), f"y_ready={int(frame_row['y_ready'])} phase={int(frame_row['phase_switch'])}", fill=(255, 255, 255), font=FONT_MD)
+    draw.text((12, 172), f"pre_prog={float(frame_row.get('pregrasp_progress', 0.0)):.3f}", fill=(255, 255, 255), font=FONT_MD)
+    draw.text((12, 198), f"left_grasped={int(left_grasped)} door={float(frame_row['door_angle']):.3f}", fill=(255, 255, 255), font=FONT_MD)
+    draw.text((12, 224), f"y_retrieve={int(frame_row.get('y_retrieve', 0))} phase={int(frame_row['phase_switch'])} score={float(frame_row.get('phase_score', frame_row['phase_switch'])):.3f}", fill=(255, 255, 255), font=FONT_MD)
     canvas.paste(text_panel, (PANEL_SIZE, HEADER_HEIGHT + PANEL_SIZE))
     return canvas
 
@@ -436,10 +434,10 @@ def _compose_all_metrics(
     draw.rectangle((0, footer_y, canvas.size[0], canvas.size[1]), fill=(18, 18, 18))
     _bar(draw, 16, footer_y + 34, 220, 18, float(frame_row["three_view_visibility"]), "three_view_visibility", (60, 160, 255), threshold=0.35)
     _bar(draw, 272, footer_y + 34, 220, 18, float(frame_row["full_view_visibility"]), "full_view_visibility", (80, 190, 255), threshold=0.35)
-    _bar(draw, 528, footer_y + 34, 220, 18, float(frame_row["p_pre"]), "p_pre", (255, 220, 0), threshold=0.45)
+    _bar(draw, 528, footer_y + 34, 220, 18, float(frame_row["p_pre"]), "p_pre", (255, 220, 0), threshold=DEFAULT_PPRE_TAU)
     _bar(draw, 16, footer_y + 96, 220, 18, float(frame_row["p_ext"]), "p_ext", (80, 255, 120), threshold=0.45)
-    draw.text((272, footer_y + 84), f"y_pre={int(frame_row['y_pre'])} y_ext={int(frame_row['y_ext'])}", fill=(255, 255, 255), font=FONT_MD)
-    draw.text((272, footer_y + 108), f"y_ready={int(frame_row['y_ready'])} phase_switch={int(frame_row['phase_switch'])}", fill=(255, 255, 255), font=FONT_MD)
+    draw.text((272, footer_y + 84), f"y_pre={int(frame_row['y_pre'])} y_ext={int(frame_row['y_ext'])} pre_prog={float(frame_row.get('pregrasp_progress', 0.0)):.3f}", fill=(255, 255, 255), font=FONT_MD)
+    draw.text((272, footer_y + 108), f"y_ready={int(frame_row['y_ready'])} phase_switch={int(frame_row['phase_switch'])} phase_score={float(frame_row.get('phase_score', frame_row['phase_switch'])):.3f}", fill=(255, 255, 255), font=FONT_MD)
     draw.text((528, footer_y + 84), f"door_angle={float(frame_row['door_angle']):.3f}", fill=(255, 255, 255), font=FONT_MD)
     draw.text((528, footer_y + 108), f"left_open={float(frame_row['left_gripper_open']):.1f} right_open={float(frame_row['right_gripper_open']):.1f}", fill=(255, 255, 255), font=FONT_MD)
     return canvas
@@ -468,7 +466,13 @@ def main() -> int:
     with Path(args.templates_pkl).open("rb") as handle:
         templates = pickle.load(handle)
     frame_df = pd.read_csv(args.dense_csv)
-    frame_row = frame_df.iloc[int(args.frame_index)]
+    if "frame_index" in frame_df.columns:
+        matches = frame_df.loc[frame_df["frame_index"] == int(args.frame_index)]
+        if len(matches) == 0:
+            raise ValueError(f"frame_index {args.frame_index} not found in {args.dense_csv}")
+        frame_row = matches.iloc[0]
+    else:
+        frame_row = frame_df.iloc[int(args.frame_index)]
     demo = _load_demo(episode_dir)
 
     env = _launch_replay_env()
diff --git a/code/scripts/repair_oven_episode_dense.py b/code/scripts/repair_oven_episode_dense.py
index ac94843b09fd1efba2547f7afe2736094fdc1ea3..16a27aff1165f45c8b1e38739d67b47f90d3e004 100644
--- a/code/scripts/repair_oven_episode_dense.py
+++ b/code/scripts/repair_oven_episode_dense.py
@@ -21,12 +21,11 @@ if str(PROJECT_ROOT) not in sys.path:
 
 from rr_label_study.oven_study import (
     BimanualTakeTrayOutOfOven,
-    DEFAULT_DOOR_SPEED_TAU,
+    DEFAULT_PPRE_TAU,
     DEFAULT_PEXT_TAU,
-    DEFAULT_VISIBILITY_TAU,
     ReplayCache,
-    Shape,
     _aggregate_summary,
+    _annotate_phase_columns,
     _derive_templates,
     _first_crossing,
     _interventional_validity,
@@ -77,13 +76,13 @@ def _stop_process(process: Optional[subprocess.Popen]) -> None:
             pass
 
 
-def _spawn_frame_job(
+def _spawn_frame_batch_job(
     display_num: int,
     episode_dir: Path,
     templates_pkl: Path,
-    frame_index: int,
+    frame_indices: List[int],
     checkpoint_stride: int,
-    output_json: Path,
+    output_dir: Path,
 ) -> subprocess.Popen:
     runtime_dir = Path(f"/tmp/rr_label_study_frame_display_{display_num}")
     runtime_dir.mkdir(parents=True, exist_ok=True)
@@ -96,17 +95,17 @@ def _spawn_frame_job(
     return subprocess.Popen(
         [
             sys.executable,
-            str(PROJECT_ROOT.joinpath("scripts", "run_oven_single_frame.py")),
+            str(PROJECT_ROOT.joinpath("scripts", "run_oven_frame_batch.py")),
             "--episode-dir",
             str(episode_dir),
             "--templates-pkl",
             str(templates_pkl),
-            "--frame-index",
-            str(frame_index),
+            "--frame-indices",
+            *[str(frame_index) for frame_index in frame_indices],
             "--checkpoint-stride",
             str(checkpoint_stride),
-            "--output-json",
-            str(output_json),
+            "--output-dir",
+            str(output_dir),
         ],
         stdout=subprocess.DEVNULL,
         stderr=subprocess.DEVNULL,
@@ -125,35 +124,14 @@ def _recompute_episode_metrics(
     template_frames: Dict[str, int],
     checkpoint_stride: int,
 ) -> Tuple[pd.DataFrame, Dict[str, object]]:
-    door_speed = np.gradient(frame_df["door_angle"].to_numpy(), 0.05)
-    frame_df["door_speed_abs"] = np.abs(door_speed)
-    y_ext_binary = frame_df["y_ext"].to_numpy(dtype=bool)
-    y_ready = np.zeros(len(frame_df), dtype=bool)
-    for i in range(len(frame_df)):
-        window = y_ext_binary[i : i + 3]
-        if len(window) == 3 and np.all(window) and frame_df.iloc[i]["door_speed_abs"] <= DEFAULT_DOOR_SPEED_TAU:
-            y_ready[i] = True
-    if np.any(y_ready):
-        first_ready = int(np.flatnonzero(y_ready)[0])
-        y_ready[first_ready:] = True
-    frame_df["y_ready"] = y_ready.astype(float)
-
-    phase_trigger = (
-        (frame_df["full_view_visibility"] >= DEFAULT_VISIBILITY_TAU)
-        & (frame_df["p_ext"] >= DEFAULT_PEXT_TAU)
-        & (frame_df["door_speed_abs"] <= DEFAULT_DOOR_SPEED_TAU)
-    ).to_numpy(dtype=bool)
-    phase_switch = np.zeros(len(frame_df), dtype=bool)
-    if np.any(phase_trigger):
-        first_phase = int(np.flatnonzero(phase_trigger)[0])
-        phase_switch[first_phase:] = True
-    frame_df["phase_switch"] = phase_switch.astype(float)
+    frame_df = _annotate_phase_columns(frame_df)
 
     keyframes = [index for index in _keypoint_discovery(demo) if index < len(frame_df)]
     key_df = _keyframe_subset(frame_df, keyframes)
 
     y_pre_arr = frame_df["y_pre"].to_numpy(dtype=int)
     y_ext_arr = frame_df["y_ext"].to_numpy(dtype=int)
+    y_retrieve_arr = frame_df["y_retrieve"].to_numpy(dtype=int)
     y_ready_arr = frame_df["y_ready"].to_numpy(dtype=int)
     p_pre_arr = frame_df["p_pre"].to_numpy(dtype=float)
     p_ext_arr = frame_df["p_ext"].to_numpy(dtype=float)
@@ -162,12 +140,14 @@ def _recompute_episode_metrics(
     door_angle_arr = frame_df["door_angle"].to_numpy(dtype=float)
     time_arr = frame_df["time_norm"].to_numpy(dtype=float)
 
-    ppre_cross = _first_crossing(p_pre_arr, DEFAULT_PEXT_TAU)
+    ppre_cross = _first_crossing(p_pre_arr, DEFAULT_PPRE_TAU)
     pext_cross = _first_crossing(p_ext_arr, DEFAULT_PEXT_TAU)
     phase_cross = _first_crossing(frame_df["phase_switch"].to_numpy(dtype=float), 0.5)
+    retrieve_cross = _first_crossing(y_retrieve_arr.astype(float), 0.5)
     ready_cross = _first_crossing(y_ready_arr.astype(float), 0.5)
     phase_rises, phase_falls = _transition_count(phase_arr)
     key_phase_cross = _first_crossing(key_df["phase_switch"].to_numpy(dtype=float), 0.5)
+    key_retrieve_cross = _first_crossing(key_df["y_retrieve"].to_numpy(dtype=float), 0.5)
     key_ready_cross = _first_crossing(key_df["y_ready"].to_numpy(dtype=float), 0.5)
 
     env = _launch_replay_env()
@@ -181,7 +161,6 @@ def _recompute_episode_metrics(
             episode_dir,
             demo,
             templates,
-            Shape("tray").get_handle(),
             frame_df,
         )
     finally:
@@ -197,14 +176,21 @@ def _recompute_episode_metrics(
         "ppre_cross_frame": int(ppre_cross),
         "pext_cross_frame": int(pext_cross),
         "phase_cross_frame": int(phase_cross),
+        "retrieve_cross_frame": int(retrieve_cross),
         "ready_cross_frame": int(ready_cross),
         "ordering_ok": bool(ppre_cross == -1 or pext_cross == -1 or ppre_cross <= pext_cross),
+        "dense_boundary_error_to_retrieve_frames": float(abs(phase_cross - retrieve_cross))
+        if phase_cross >= 0 and retrieve_cross >= 0
+        else float("nan"),
         "dense_boundary_error_frames": float(abs(phase_cross - ready_cross))
         if phase_cross >= 0 and ready_cross >= 0
         else float("nan"),
         "dense_boundary_error_fraction": float(abs(phase_cross - ready_cross) / len(frame_df))
         if phase_cross >= 0 and ready_cross >= 0
         else float("nan"),
+        "key_boundary_error_to_retrieve_keyframes": float(abs(key_phase_cross - key_retrieve_cross))
+        if key_phase_cross >= 0 and key_retrieve_cross >= 0
+        else float("nan"),
         "key_boundary_error_keyframes": float(abs(key_phase_cross - key_ready_cross))
         if key_phase_cross >= 0 and key_ready_cross >= 0
         else float("nan"),
@@ -224,11 +210,20 @@ def _recompute_episode_metrics(
         "auprc_ppre_ypre": _safe_auprc(y_pre_arr, p_pre_arr),
         "auroc_pext_yext": _safe_auc(y_ext_arr, p_ext_arr),
         "auprc_pext_yext": _safe_auprc(y_ext_arr, p_ext_arr),
+        "auroc_phase_yretrieve": _safe_auc(
+            y_retrieve_arr, frame_df["phase_score"].to_numpy(dtype=float)
+        ),
+        "auprc_phase_yretrieve": _safe_auprc(
+            y_retrieve_arr, frame_df["phase_score"].to_numpy(dtype=float)
+        ),
+        "f1_phase_yretrieve": float(f1_score(y_retrieve_arr, phase_arr))
+        if np.any(y_retrieve_arr) and np.any(phase_arr)
+        else float("nan"),
         "auroc_phase_yready": _safe_auc(
-            y_ready_arr, frame_df["phase_switch"].to_numpy(dtype=float)
+            y_ready_arr, frame_df["phase_score"].to_numpy(dtype=float)
         ),
         "auprc_phase_yready": _safe_auprc(
-            y_ready_arr, frame_df["phase_switch"].to_numpy(dtype=float)
+            y_ready_arr, frame_df["phase_score"].to_numpy(dtype=float)
         ),
         "f1_phase_yready": float(f1_score(y_ready_arr, phase_arr))
         if np.any(y_ready_arr) and np.any(phase_arr)
@@ -306,38 +301,43 @@ def main() -> int:
             xvfb_procs.append(_launch_xvfb(display_num, output_dir.joinpath(f"xvfb_{display_num}.log")))
         time.sleep(1.0)
 
-        pending = suspicious[:]
-        active: Dict[int, Tuple[int, subprocess.Popen, Path]] = {}
-        while pending or active:
-            free_displays = [display for display in displays if display not in active]
-            while pending and free_displays:
-                display_num = free_displays.pop(0)
-                frame_index = pending.pop(0)
-                output_json = frame_json_dir.joinpath(f"frame_{frame_index:04d}.json")
-                process = _spawn_frame_job(
-                    display_num=display_num,
-                    episode_dir=episode_dir,
-                    templates_pkl=templates_pkl,
-                    frame_index=frame_index,
-                    checkpoint_stride=args.checkpoint_stride,
-                    output_json=output_json,
-                )
-                active[display_num] = (frame_index, process, output_json)
+        frame_batches = [
+            [int(frame_index) for frame_index in batch.tolist()]
+            for batch in np.array_split(np.asarray(suspicious, dtype=int), len(displays))
+            if len(batch)
+        ]
+        active: Dict[int, Tuple[List[int], subprocess.Popen]] = {}
+        for display_num, frame_batch in zip(displays, frame_batches):
+            process = _spawn_frame_batch_job(
+                display_num=display_num,
+                episode_dir=episode_dir,
+                templates_pkl=templates_pkl,
+                frame_indices=frame_batch,
+                checkpoint_stride=args.checkpoint_stride,
+                output_dir=frame_json_dir,
+            )
+            active[display_num] = (frame_batch, process)
+        while active:
             time.sleep(0.5)
             finished = []
-            for display_num, (frame_index, process, output_json) in active.items():
+            for display_num, (frame_batch, process) in active.items():
                 return_code = process.poll()
                 if return_code is None:
                     continue
-                if return_code != 0 or not output_json.exists():
+                missing = [
+                    frame_index
+                    for frame_index in frame_batch
+                    if not frame_json_dir.joinpath(f"frame_{frame_index:04d}.json").exists()
+                ]
+                if return_code != 0 or missing:
                     raise RuntimeError(
-                        f"frame {frame_index} repair failed on display :{display_num}"
+                        f"display :{display_num} repair failed for frames {frame_batch}; missing={missing}"
                     )
                 finished.append(display_num)
             for display_num in finished:
                 active.pop(display_num)
     finally:
-        for _, process, _ in list(active.values()) if "active" in locals() else []:
+        for _, process in list(active.values()) if "active" in locals() else []:
             _stop_process(process)
         for xvfb in xvfb_procs:
             _stop_process(xvfb)
diff --git a/code/scripts/run_oven_frame_batch.py b/code/scripts/run_oven_frame_batch.py
new file mode 100644
index 0000000000000000000000000000000000000000..dcc4c74363d320f14373fc13922ae3815927e8bd
--- /dev/null
+++ b/code/scripts/run_oven_frame_batch.py
@@ -0,0 +1,48 @@
+from pathlib import Path
+import argparse
+import json
+import pickle
+import sys
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[1]
+if str(PROJECT_ROOT) not in sys.path:
+    sys.path.insert(0, str(PROJECT_ROOT))
+
+from rr_label_study.oven_study import _compute_frame_rows_sequential, _load_demo
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--episode-dir", required=True)
+    parser.add_argument("--templates-pkl", required=True)
+    parser.add_argument("--frame-indices", nargs="+", type=int, required=True)
+    parser.add_argument("--checkpoint-stride", type=int, default=16)
+    parser.add_argument("--output-dir", required=True)
+    args = parser.parse_args()
+
+    episode_dir = Path(args.episode_dir)
+    with Path(args.templates_pkl).open("rb") as handle:
+        templates = pickle.load(handle)
+    demo = _load_demo(episode_dir)
+    rows = _compute_frame_rows_sequential(
+        episode_dir=episode_dir,
+        demo=demo,
+        templates=templates,
+        checkpoint_stride=args.checkpoint_stride,
+        frame_indices=args.frame_indices,
+    )
+
+    output_dir = Path(args.output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    for row in rows:
+        frame_index = int(row["frame_index"])
+        with output_dir.joinpath(f"frame_{frame_index:04d}.json").open(
+            "w", encoding="utf-8"
+        ) as handle:
+            json.dump(row, handle)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())