Sync independent-replay restore fixes and episode0 iter6 artifacts

.gitattributes

@@ -418,3 +418,9 @@ artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/fr
 artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0054.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0056.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0156.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter5_visual_checks/rgb_contact_sheet_190_260.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter5_visual_checks/visibility_220.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter5_visual_checks/visibility_232.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png filter=lfs diff=lfs merge=lfs -text

MANIFEST.txt

@@ -111,6 +111,55 @@
 ./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_iter5_extract_sweep/extract_sweep.csv
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0220.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0225.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0229.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0232.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0234.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0236.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0240.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0245.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0250.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0255.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0260.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0270.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0280.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0290.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0300.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0310.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0320.json
+./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0326.json
+./artifacts/results/oven_episode0_iter5_visual_checks/iter4_batch_annotated.csv
+./artifacts/results/oven_episode0_iter5_visual_checks/rgb_contact_sheet_190_260.png
+./artifacts/results/oven_episode0_iter5_visual_checks/visibility_220.png
+./artifacts/results/oven_episode0_iter5_visual_checks/visibility_232.png
+./artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png
+./artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0220.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0225.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0229.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0232.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0234.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0236.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0240.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0245.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0250.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0255.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0260.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0270.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0280.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0290.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0300.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0310.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0320.json
+./artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0326.json
+./artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv
+./artifacts/results/oven_episode0_iter6_independent_full/episode0.keyframes.csv
+./artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json
+./artifacts/results/oven_episode0_iter6_independent_full/summary.json
+./artifacts/results/oven_episode0_iter6_independent_full/templates.json
+./artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png
 ./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

README.md

@@ -14,11 +14,13 @@ This is still a label-validation repository, not a policy repository. No `pi0.5`
 
 ## 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:
+The latest work in this upload fixes the main simulator-state bugs that were still contaminating the oven metrics:
 
 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.
+3. `p_pre` stayed near zero until grasp.
+4. Extraction labels could flicker or drift because oracle rollouts were not restoring the simulator state exactly.
+5. The old dense runner's restore-heavy path could still bias later frames after an oracle call.
 
 The current code addresses those issues by:
 
@@ -28,8 +30,12 @@ The current code addresses those issues by:
 - 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
+- snapshotting and restoring exact arm joints, gripper joints, and the full grasped-object subtree
+- supporting and now preferring `--independent-replay` for the authoritative dense study
+- tightening `y_pre` so it stays on once the retriever is clearly inside the pregrasp corridor
+- retuning `phase_score` so it tracks the reveal-to-retrieve handoff instead of generic early motion
 
-The latest validated artifacts are the `iter4_*` outputs, not `oven_episode0_repaired_v1`.
+The old `iter4_*` outputs are still useful historical checkpoints, but the current authoritative path is the new independent-replay episode-0 rerun under `artifacts/results/oven_episode0_iter6_independent_full/`.
 
 ## What Is In This Upload
 
@@ -86,8 +92,14 @@ This fixes the old failure where visibility dropped to zero even when the tray l
 - 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.
+- `SimulatorSnapshot` now restores:
+  - arm joint trees and explicit joint positions
+  - gripper joint trees and explicit joint positions
+  - the full subtree under any grasped object
+  - grasp attachments with the original release parent
+- `ReplayCache` now keeps retrying stable grasp attachment while the demo gripper remains closed.
 
-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.
+This fixed the major replay bug where post-oracle restores could leave the arm, gripper, or grasped tray in a subtly different state than the true demo frame.
 
 ### 4. Earlier phase signal
 
@@ -96,8 +108,14 @@ This specifically fixed the bad frame-232 drift that reappeared in the old isola
   - `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.
+- `phase_score` is now dominated by actual approach progress and `p_pre`, with a stricter threshold (`0.5`) so it no longer flips during the early reveal phase.
+- `y_retrieve` is still oracle-like and monotone, but the metric side now has a cleaner approach-sensitive signal for early switching.
+
+### 5. Independent replay
+
+- `run_oven_label_study.py` already exposed `--independent-replay`.
+- `launch_parallel_oven_label_study.py` now passes that flag through to worker runs.
+- For the current oven study, independent replay is the trustworthy dense mode because it avoids cross-frame contamination from oracle rollouts.
 
 ## Latest Validated Artifacts
 
@@ -109,42 +127,54 @@ The current trustworthy artifacts are:
 - `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`
+- `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.keyframes.csv`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
+- `artifacts/results/oven_episode0_iter6_independent_full/summary.json`
 
-These artifacts are the main evidence for the latest fixes.
+Important note: the `iter6_independent_full` dense CSV is the authoritative low-level artifact. The saved JSON summary in that directory was produced before the last `phase_score` retune, so the dense CSV should be treated as ground truth if you are re-deriving phase metrics.
 
 ## Key Verified Findings
 
-From the latest iter4 validation on episode 0:
+From the current independent-replay 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`
+- Pregrasp progress now rises well before grasp and stays predictive:
+  - frame `210`: `pregrasp_progress ≈ 0.451`, `p_pre ≈ 0.185`, `y_pre = 0`
+  - frame `215`: `pregrasp_progress ≈ 0.568`, `p_pre ≈ 0.375`, `y_pre = 1`
+  - frame `220`: `pregrasp_progress ≈ 0.702`, `p_pre ≈ 0.496`, `y_pre = 1`
+  - frame `225`: `pregrasp_progress ≈ 0.847`, `p_pre ≈ 0.559`, `y_pre = 1`
+  - frame `230`: `pregrasp_progress ≈ 0.950`, `p_pre ≈ 0.654`, `y_pre = 1`
+- Extraction feasibility is now separated from pregrasp:
+  - frame `230`: `p_ext ≈ 0.0007`, `y_ext = 0`
+  - frame `232`: `p_ext = 1.0`, `y_ext = 1`
+  - frame `234`: `p_ext = 1.0`, `y_ext = 1`
+- In the full independent episode-0 run:
+  - `ppre_cross_frame = 216`
+  - `pext_cross_frame = 232`
+  - `retrieve_cross_frame = 215`
+  - `ready_cross_frame = 234`
+  - `single_switch_rate = 1.0`
+  - `reversion_rate = 0.0`
+  - `auroc_ppre_ypre ≈ 0.761`
+  - `auprc_ppre_ypre ≈ 0.903`
+  - `auroc_pext_yext = 1.0`
+  - `auprc_pext_yext = 1.0`
+- After the final `phase_score` retune, recomputing phase columns on the dense CSV moves:
+  - `first phase_switch` to frame `214`
+  - `first y_retrieve` to frame `215`
+  - `first y_ready` to frame `234`
 
 See:
 
 - `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
 - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
+- `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
 
 ## Artifact Guide
 
@@ -191,6 +221,8 @@ 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`
+- `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
+- `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
 
 ## Environment
 
@@ -235,7 +267,8 @@ 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
+  --template-episode-index 0 \
+  --independent-replay
 ```
 
 5. If you want to repair suspicious frames in parallel with the new batched path:
@@ -253,7 +286,7 @@ python /workspace/VLAdaptorBench_upload/code/scripts/repair_oven_episode_dense.p
 
 ## Important 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 full 100-episode independent-replay run is not yet the authoritative artifact in this upload. The current repository state documents the repaired metric code, the exact snapshot/restore fixes, and the episode-0 independent validation that is required before scaling to the full study.
 
 ## Dataset Note
 

artifacts/results/oven_episode0_iter5_extract_sweep/extract_sweep.csv

@@ -0,0 +1,19 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,pregrasp_progress,pregrasp_distance,p_pre,p_ext,y_pre,y_ext,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility
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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0220.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, "pregrasp_progress": 0.7008928782711262, "pregrasp_distance": 0.07539624664346693, "p_pre": 0.49542145834476564, "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}

artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0225.json

@@ -0,0 +1 @@
+{"frame_index": 225, "time_norm": 0.6859756097560976, "door_angle": 0.6731866598129272, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.8461562488124923, "pregrasp_distance": 0.038779555828795435, "p_pre": 0.5575032205025066, "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}

artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0229.json

@@ -0,0 +1 @@
+{"frame_index": 229, "time_norm": 0.698170731707317, "door_angle": 0.6038435697555542, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.9853535300272546, "pregrasp_distance": 0.0036919510427262064, "p_pre": 0.6277536974664348, "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}

artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0232.json

@@ -0,0 +1 @@
+{"frame_index": 232, "time_norm": 0.7073170731707317, "door_angle": 0.5740898847579956, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.8905410815615439, "pregrasp_distance": 0.02759142465289794, "p_pre": 0.6803085318704378, "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}

artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0234.json

@@ -0,0 +1 @@
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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0236.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0245.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0250.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0255.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0260.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0280.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0290.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0300.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0310.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0320.json

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artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0326.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0220.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0225.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0229.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0232.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0234.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0236.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0240.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0245.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0250.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0255.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0260.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0270.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0280.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0290.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0300.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0310.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0320.json

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artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0326.json

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artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json

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artifacts/results/oven_episode0_iter6_independent_full/summary.json

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