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Sync independent-replay restore fixes and episode0 iter6 artifacts

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  1. .gitattributes +6 -0
  2. MANIFEST.txt +49 -0
  3. README.md +64 -31
  4. artifacts/results/oven_episode0_iter5_extract_sweep/extract_sweep.csv +19 -0
  5. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0220.json +1 -0
  6. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0225.json +1 -0
  7. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0229.json +1 -0
  8. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0232.json +1 -0
  9. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0234.json +1 -0
  10. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0236.json +1 -0
  11. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0240.json +1 -0
  12. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0245.json +1 -0
  13. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0250.json +1 -0
  14. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0255.json +1 -0
  15. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0260.json +1 -0
  16. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0270.json +1 -0
  17. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0280.json +1 -0
  18. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0290.json +1 -0
  19. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0300.json +1 -0
  20. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0310.json +1 -0
  21. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0320.json +1 -0
  22. artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0326.json +1 -0
  23. artifacts/results/oven_episode0_iter5_visual_checks/iter4_batch_annotated.csv +20 -0
  24. artifacts/results/oven_episode0_iter5_visual_checks/rgb_contact_sheet_190_260.png +3 -0
  25. artifacts/results/oven_episode0_iter5_visual_checks/visibility_220.png +3 -0
  26. artifacts/results/oven_episode0_iter5_visual_checks/visibility_232.png +3 -0
  27. artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png +3 -0
  28. artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png +3 -0
  29. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0220.json +1 -0
  30. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0225.json +1 -0
  31. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0229.json +1 -0
  32. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0232.json +1 -0
  33. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0234.json +1 -0
  34. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0236.json +1 -0
  35. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0240.json +1 -0
  36. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0245.json +1 -0
  37. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0250.json +1 -0
  38. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0255.json +1 -0
  39. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0260.json +1 -0
  40. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0270.json +1 -0
  41. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0280.json +1 -0
  42. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0290.json +1 -0
  43. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0300.json +1 -0
  44. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0310.json +1 -0
  45. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0320.json +1 -0
  46. artifacts/results/oven_episode0_iter6_extract_sweep/frames/frame_0326.json +1 -0
  47. artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv +330 -0
  48. artifacts/results/oven_episode0_iter6_independent_full/episode0.keyframes.csv +15 -0
  49. artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json +53 -0
  50. artifacts/results/oven_episode0_iter6_independent_full/summary.json +106 -0
.gitattributes CHANGED
@@ -418,3 +418,9 @@ artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/fr
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0054.png filter=lfs diff=lfs merge=lfs -text
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0056.png filter=lfs diff=lfs merge=lfs -text
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0156.png filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0054.png filter=lfs diff=lfs merge=lfs -text
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0056.png filter=lfs diff=lfs merge=lfs -text
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  artifacts/results/oven_episode0_repaired_v1/visualizations/frames/all_metrics/frame_0156.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter5_visual_checks/rgb_contact_sheet_190_260.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter5_visual_checks/visibility_220.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter5_visual_checks/visibility_232.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png filter=lfs diff=lfs merge=lfs -text
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+ artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png filter=lfs diff=lfs merge=lfs -text
MANIFEST.txt CHANGED
@@ -111,6 +111,55 @@
111
  ./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0260.json
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  ./artifacts/results/oven_episode0_iter4_templates/templates.json
113
  ./artifacts/results/oven_episode0_iter4_templates/templates.pkl
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
114
  ./artifacts/results/oven_episode0_repaired_v1/episode0.dense.csv
115
  ./artifacts/results/oven_episode0_repaired_v1/episode0.keyframes.csv
116
  ./artifacts/results/oven_episode0_repaired_v1/episode0.metrics.json
 
111
  ./artifacts/results/oven_episode0_iter4_postfix/frames/frame_0260.json
112
  ./artifacts/results/oven_episode0_iter4_templates/templates.json
113
  ./artifacts/results/oven_episode0_iter4_templates/templates.pkl
114
+ ./artifacts/results/oven_episode0_iter5_extract_sweep/extract_sweep.csv
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+ ./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0220.json
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+ ./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0225.json
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+ ./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0229.json
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+ ./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0232.json
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+ ./artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0234.json
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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_0240.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_0270.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_iter5_visual_checks/iter4_batch_annotated.csv
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+ ./artifacts/results/oven_episode0_iter5_visual_checks/rgb_contact_sheet_190_260.png
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+ ./artifacts/results/oven_episode0_iter5_visual_checks/visibility_220.png
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+ ./artifacts/results/oven_episode0_iter5_visual_checks/visibility_232.png
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+ ./artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png
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+ ./artifacts/results/oven_episode0_iter5_visual_checks/visibility_260.png
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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.dense.csv
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+ ./artifacts/results/oven_episode0_iter6_independent_full/episode0.keyframes.csv
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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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+ ./artifacts/results/oven_episode0_iter6_independent_full/templates.json
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+ ./artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png
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  ./artifacts/results/oven_episode0_repaired_v1/episode0.dense.csv
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  ./artifacts/results/oven_episode0_repaired_v1/episode0.keyframes.csv
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  ./artifacts/results/oven_episode0_repaired_v1/episode0.metrics.json
README.md CHANGED
@@ -14,11 +14,13 @@ This is still a label-validation repository, not a policy repository. No `pi0.5`
14
 
15
  ## Current Status
16
 
17
- 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:
18
 
19
  1. The reveal-to-retrieve transition used to occur too late, effectively at grasp time.
20
  2. The visibility metric used to drop to zero around frame 232 even when the tray grasp region was clearly visible in `wrist_left`.
21
- 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.
 
 
22
 
23
  The current code addresses those issues by:
24
 
@@ -28,8 +30,12 @@ The current code addresses those issues by:
28
  - deriving a late-window pregrasp approach template instead of accidentally including frame-8 arm poses
29
  - adding explicit `pregrasp_progress`, `pregrasp_distance`, `pregrasp_speed`, and `phase_score`
30
  - making the repair path batch frames sequentially per worker so late-frame rows do not drift
 
 
 
 
31
 
32
- The latest validated artifacts are the `iter4_*` outputs, not `oven_episode0_repaired_v1`.
33
 
34
  ## What Is In This Upload
35
 
@@ -86,8 +92,14 @@ This fixes the old failure where visibility dropped to zero even when the tray l
86
  - The old isolated repair path replayed every suspicious frame from a fresh reset, which could corrupt late rows.
87
  - The new helper `run_oven_frame_batch.py` computes frame rows sequentially inside a single env per worker.
88
  - `repair_oven_episode_dense.py` now distributes frame batches, not individual frames, across displays.
 
 
 
 
 
 
89
 
90
- 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.
91
 
92
  ### 4. Earlier phase signal
93
 
@@ -96,8 +108,14 @@ This specifically fixed the bad frame-232 drift that reappeared in the old isola
96
  - `pregrasp_distance`
97
  - `pregrasp_speed`
98
  - `phase_score`
99
- - `phase_switch` is now driven from a persistent threshold on `phase_score` instead of only `p_pre >= tau`.
100
- - `y_retrieve` is still oracle-like and monotone, but the metric side now has a smoother approach-sensitive signal for early switching.
 
 
 
 
 
 
101
 
102
  ## Latest Validated Artifacts
103
 
@@ -109,42 +127,54 @@ The current trustworthy artifacts are:
109
  - `artifacts/results/oven_episode0_iter4_batch/frames/`
110
  - `artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv`
111
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
 
 
 
 
 
112
 
113
- These artifacts are the main evidence for the latest fixes.
114
 
115
  ## Key Verified Findings
116
 
117
- From the latest iter4 validation on episode 0:
118
 
119
  - Visibility over the dense 170-234 window is clean:
120
  - min `three_view_visibility = 1.0`
121
  - min `full_view_visibility = 1.0`
122
- - Frame 232 is now correct in sequential replay:
123
- - `three_view_visibility = 1.0`
124
- - `full_view_visibility = 1.0`
125
- - `pregrasp_progress = 0.8946`
126
- - Pregrasp progress now rises well before grasp:
127
- - first `pregrasp_speed >= 0.01` at frame `178`
128
- - first `pregrasp_progress >= 0.05` at frame `189`
129
- - first `pregrasp_progress >= 0.25` at frame `200`
130
- - first `pregrasp_progress >= 0.50` at frame `213`
131
- - `p_pre` now rises before grasp instead of staying at zero:
132
- - frame `190`: `0.044`
133
- - frame `210`: `0.185`
134
- - frame `215`: `0.373`
135
- - frame `220`: `0.497`
136
- - frame `232`: `0.666`
137
- - The old artifact had `three_view_visibility = 0.0` and `p_pre = 0.0` at the same frames.
138
- - `p_ext` is no longer spuriously high before grasp in the corrected batch replay:
139
- - pregrasp region stays at `0.2`
140
- - rises at grasp / early extract
141
- - reaches `0.8846` by frame `260`
142
- - reaches `1.0` by frames `321` and `326`
 
 
 
 
143
 
144
  See:
145
 
146
  - `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
147
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
 
 
 
148
 
149
  ## Artifact Guide
150
 
@@ -191,6 +221,8 @@ Relevant current artifacts:
191
  - `artifacts/results/oven_episode0_iter4_templates/templates.json`
192
  - `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
193
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
 
 
194
 
195
  ## Environment
196
 
@@ -235,7 +267,8 @@ python /workspace/VLAdaptorBench_upload/code/scripts/run_oven_label_study.py \
235
  --result-dir /workspace/tmp_run \
236
  --max-episodes 1 \
237
  --checkpoint-stride 16 \
238
- --template-episode-index 0
 
239
  ```
240
 
241
  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
253
 
254
  ## Important Note
255
 
256
- 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.
257
 
258
  ## Dataset Note
259
 
 
14
 
15
  ## Current Status
16
 
17
+ The latest work in this upload fixes the main simulator-state bugs that were still contaminating the oven metrics:
18
 
19
  1. The reveal-to-retrieve transition used to occur too late, effectively at grasp time.
20
  2. The visibility metric used to drop to zero around frame 232 even when the tray grasp region was clearly visible in `wrist_left`.
21
+ 3. `p_pre` stayed near zero until grasp.
22
+ 4. Extraction labels could flicker or drift because oracle rollouts were not restoring the simulator state exactly.
23
+ 5. The old dense runner's restore-heavy path could still bias later frames after an oracle call.
24
 
25
  The current code addresses those issues by:
26
 
 
30
  - deriving a late-window pregrasp approach template instead of accidentally including frame-8 arm poses
31
  - adding explicit `pregrasp_progress`, `pregrasp_distance`, `pregrasp_speed`, and `phase_score`
32
  - making the repair path batch frames sequentially per worker so late-frame rows do not drift
33
+ - snapshotting and restoring exact arm joints, gripper joints, and the full grasped-object subtree
34
+ - supporting and now preferring `--independent-replay` for the authoritative dense study
35
+ - tightening `y_pre` so it stays on once the retriever is clearly inside the pregrasp corridor
36
+ - retuning `phase_score` so it tracks the reveal-to-retrieve handoff instead of generic early motion
37
 
38
+ 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/`.
39
 
40
  ## What Is In This Upload
41
 
 
92
  - The old isolated repair path replayed every suspicious frame from a fresh reset, which could corrupt late rows.
93
  - The new helper `run_oven_frame_batch.py` computes frame rows sequentially inside a single env per worker.
94
  - `repair_oven_episode_dense.py` now distributes frame batches, not individual frames, across displays.
95
+ - `SimulatorSnapshot` now restores:
96
+ - arm joint trees and explicit joint positions
97
+ - gripper joint trees and explicit joint positions
98
+ - the full subtree under any grasped object
99
+ - grasp attachments with the original release parent
100
+ - `ReplayCache` now keeps retrying stable grasp attachment while the demo gripper remains closed.
101
 
102
+ 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.
103
 
104
  ### 4. Earlier phase signal
105
 
 
108
  - `pregrasp_distance`
109
  - `pregrasp_speed`
110
  - `phase_score`
111
+ - `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.
112
+ - `y_retrieve` is still oracle-like and monotone, but the metric side now has a cleaner approach-sensitive signal for early switching.
113
+
114
+ ### 5. Independent replay
115
+
116
+ - `run_oven_label_study.py` already exposed `--independent-replay`.
117
+ - `launch_parallel_oven_label_study.py` now passes that flag through to worker runs.
118
+ - For the current oven study, independent replay is the trustworthy dense mode because it avoids cross-frame contamination from oracle rollouts.
119
 
120
  ## Latest Validated Artifacts
121
 
 
127
  - `artifacts/results/oven_episode0_iter4_batch/frames/`
128
  - `artifacts/results/oven_episode0_iter4_clean/iter4_targeted_comparison.csv`
129
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
130
+ - `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
131
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
132
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.keyframes.csv`
133
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
134
+ - `artifacts/results/oven_episode0_iter6_independent_full/summary.json`
135
 
136
+ 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.
137
 
138
  ## Key Verified Findings
139
 
140
+ From the current independent-replay validation on episode 0:
141
 
142
  - Visibility over the dense 170-234 window is clean:
143
  - min `three_view_visibility = 1.0`
144
  - min `full_view_visibility = 1.0`
145
+ - Pregrasp progress now rises well before grasp and stays predictive:
146
+ - frame `210`: `pregrasp_progress ≈ 0.451`, `p_pre ≈ 0.185`, `y_pre = 0`
147
+ - frame `215`: `pregrasp_progress ≈ 0.568`, `p_pre ≈ 0.375`, `y_pre = 1`
148
+ - frame `220`: `pregrasp_progress 0.702`, `p_pre ≈ 0.496`, `y_pre = 1`
149
+ - frame `225`: `pregrasp_progress 0.847`, `p_pre ≈ 0.559`, `y_pre = 1`
150
+ - frame `230`: `pregrasp_progress 0.950`, `p_pre 0.654`, `y_pre = 1`
151
+ - Extraction feasibility is now separated from pregrasp:
152
+ - frame `230`: `p_ext 0.0007`, `y_ext = 0`
153
+ - frame `232`: `p_ext = 1.0`, `y_ext = 1`
154
+ - frame `234`: `p_ext = 1.0`, `y_ext = 1`
155
+ - In the full independent episode-0 run:
156
+ - `ppre_cross_frame = 216`
157
+ - `pext_cross_frame = 232`
158
+ - `retrieve_cross_frame = 215`
159
+ - `ready_cross_frame = 234`
160
+ - `single_switch_rate = 1.0`
161
+ - `reversion_rate = 0.0`
162
+ - `auroc_ppre_ypre 0.761`
163
+ - `auprc_ppre_ypre 0.903`
164
+ - `auroc_pext_yext = 1.0`
165
+ - `auprc_pext_yext = 1.0`
166
+ - After the final `phase_score` retune, recomputing phase columns on the dense CSV moves:
167
+ - `first phase_switch` to frame `214`
168
+ - `first y_retrieve` to frame `215`
169
+ - `first y_ready` to frame `234`
170
 
171
  See:
172
 
173
  - `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
174
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
175
+ - `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
176
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
177
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
178
 
179
  ## Artifact Guide
180
 
 
221
  - `artifacts/results/oven_episode0_iter4_templates/templates.json`
222
  - `artifacts/results/oven_episode0_iter4_batch/iter4_batch_comparison.csv`
223
  - `artifacts/results/oven_episode0_iter4_dense_geom_170_234.csv`
224
+ - `artifacts/results/oven_episode0_iter6_independent_full/episode0.dense.csv`
225
+ - `artifacts/results/oven_episode0_iter6_visual_checks/boundary_rgb_contact_sheet.png`
226
 
227
  ## Environment
228
 
 
267
  --result-dir /workspace/tmp_run \
268
  --max-episodes 1 \
269
  --checkpoint-stride 16 \
270
+ --template-episode-index 0 \
271
+ --independent-replay
272
  ```
273
 
274
  5. If you want to repair suspicious frames in parallel with the new batched path:
 
286
 
287
  ## Important Note
288
 
289
+ 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.
290
 
291
  ## Dataset Note
292
 
artifacts/results/oven_episode0_iter5_extract_sweep/extract_sweep.csv ADDED
@@ -0,0 +1,19 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 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
2
+ 220,0.6707317073170732,0.7092505693435669,1.0,1.0,0.7008928782711262,0.07539624664346693,0.49542145834476564,0.2,1.0,0.0,1.0,1.0,1.0,1.0
3
+ 225,0.6859756097560976,0.6731866598129272,1.0,1.0,0.8461562488124923,0.038779555828795435,0.5575032205025066,0.2,0.0,0.0,1.0,1.0,1.0,1.0
4
+ 229,0.698170731707317,0.6038435697555542,1.0,1.0,0.9853535300272546,0.0036919510427262064,0.6277536974664348,0.2,0.0,0.0,1.0,1.0,1.0,1.0
5
+ 232,0.7073170731707317,0.5740898847579956,1.0,1.0,0.8905410815615439,0.02759142465289794,0.6803085318704378,0.2,0.0,0.0,1.0,1.0,1.0,1.0
6
+ 234,0.7134146341463414,0.5631507635116577,1.0,0.0,0.8773845389972382,0.030907808041617853,1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
7
+ 236,0.7195121951219512,0.5631507635116577,1.0,0.0,0.0,0.3487025452872521,0.03742443833388865,1.0,1.0,1.0,0.0,0.07122507122507127,1.0,0.9872723435686399
8
+ 240,0.7317073170731707,0.5451360940933228,1.0,0.0,0.0,0.34078283441689167,0.03560341520984831,1.0,1.0,1.0,0.0,0.07122507122507127,1.0,0.9871003482114593
9
+ 245,0.7469512195121951,0.49074113368988037,1.0,0.0,0.0,0.30443277026763843,0.018584192132967085,0.25,0.0,0.0,0.0,0.07122507122507127,1.0,0.9871003482114593
10
+ 250,0.7621951219512195,0.48109376430511475,1.0,0.0,0.0,0.2881188275897502,0.04075775073301752,1.0,1.0,1.0,0.0,0.07122507122507127,1.0,0.9871003482114593
11
+ 255,0.7774390243902439,0.4158257246017456,1.0,0.0,0.0,0.28362792485265115,0.016052211391253724,0.25,0.0,0.0,0.0,0.07122507122507127,1.0,0.9871003482114593
12
+ 260,0.7926829268292683,0.3746732473373413,1.0,0.0,0.0,0.29322136177486374,0.01183133063693009,0.25,0.0,0.0,0.0,0.07122507122507127,1.0,0.9871003482114593
13
+ 270,0.823170731707317,0.3625572919845581,1.0,0.0,0.0,0.29482029185990277,0.039563024475573756,1.0,1.0,1.0,0.0,0.8645536562203229,1.0,0.9981188007808378
14
+ 280,0.8536585365853658,0.3625572919845581,1.0,0.0,0.22127134970933515,0.19629494808756948,0.06798988209700609,1.0,1.0,1.0,0.0,0.4868805177447153,1.0,0.9928733405242322
15
+ 290,0.8841463414634146,0.3625572919845581,1.0,0.0,0.4419744744795412,0.14066207941664596,0.15871175911818583,1.0,1.0,1.0,0.0,0.076958249797756,0.0,0.7346254968168549
16
+ 300,0.9146341463414634,0.3625572919845581,1.0,0.0,0.4929544341712777,0.12781150751538192,0.20011195392729747,1.0,1.0,1.0,0.7777777777777778,0.07122507122507127,0.7810699588477367,0.6904083570750237
17
+ 310,0.9451219512195121,0.3625572919845581,1.0,0.0,0.9402075774442523,0.015071938657953948,0.5770436169458719,1.0,1.0,1.0,0.7333333333333333,0.042735042735042694,0.7541311385459534,0.5038176638176638
18
+ 320,0.975609756097561,0.3625572919845581,1.0,1.0,0.899782145118378,0.02526201977875634,0.7334105158009561,1.0,1.0,1.0,0.9313725490196079,0.03418803418803418,0.9430909922267947,0.5335485913263691
19
+ 326,0.9939024390243902,0.3625572919845581,1.0,1.0,0.8990539896205267,0.02544556669906896,0.7335691643193487,1.0,1.0,1.0,0.9411764705882353,0.03418803418803418,0.9512208504801097,0.5335485913263691
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0220.json ADDED
@@ -0,0 +1 @@
 
 
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 ADDED
@@ -0,0 +1 @@
 
 
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 ADDED
@@ -0,0 +1 @@
 
 
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 ADDED
@@ -0,0 +1 @@
 
 
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 ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 234, "time_norm": 0.7134146341463414, "door_angle": 0.5631507635116577, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.8773845389972382, "pregrasp_distance": 0.030907808041617853, "p_pre": 1.0, "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}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0236.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 236, "time_norm": 0.7195121951219512, "door_angle": 0.5631507635116577, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3487025452872521, "p_pre": 0.03742443833388865, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9872723435686399}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0240.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 240, "time_norm": 0.7317073170731707, "door_angle": 0.5451360940933228, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.34078283441689167, "p_pre": 0.03560341520984831, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9871003482114593}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0245.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 245, "time_norm": 0.7469512195121951, "door_angle": 0.49074113368988037, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.30443277026763843, "p_pre": 0.018584192132967085, "p_ext": 0.25, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9871003482114593}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0250.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 250, "time_norm": 0.7621951219512195, "door_angle": 0.48109376430511475, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2881188275897502, "p_pre": 0.04075775073301752, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9871003482114593}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0255.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 255, "time_norm": 0.7774390243902439, "door_angle": 0.4158257246017456, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28362792485265115, "p_pre": 0.016052211391253724, "p_ext": 0.25, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9871003482114593}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0260.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 260, "time_norm": 0.7926829268292683, "door_angle": 0.3746732473373413, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.29322136177486374, "p_pre": 0.01183133063693009, "p_ext": 0.25, "y_pre": 0.0, "y_ext": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9871003482114593}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0270.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 270, "time_norm": 0.823170731707317, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.29482029185990277, "p_pre": 0.039563024475573756, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.8645536562203229, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9981188007808378}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0280.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 280, "time_norm": 0.8536585365853658, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.22127134970933515, "pregrasp_distance": 0.19629494808756948, "p_pre": 0.06798988209700609, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.4868805177447153, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9928733405242322}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0290.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 290, "time_norm": 0.8841463414634146, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.4419744744795412, "pregrasp_distance": 0.14066207941664596, "p_pre": 0.15871175911818583, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.076958249797756, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.7346254968168549}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0300.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 300, "time_norm": 0.9146341463414634, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.4929544341712777, "pregrasp_distance": 0.12781150751538192, "p_pre": 0.20011195392729747, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.7777777777777778, "three_view_whole_tray_visibility": 0.07122507122507127, "full_view_visibility": 0.7810699588477367, "full_view_whole_tray_visibility": 0.6904083570750237}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0310.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 310, "time_norm": 0.9451219512195121, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "pregrasp_progress": 0.9402075774442523, "pregrasp_distance": 0.015071938657953948, "p_pre": 0.5770436169458719, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.7333333333333333, "three_view_whole_tray_visibility": 0.042735042735042694, "full_view_visibility": 0.7541311385459534, "full_view_whole_tray_visibility": 0.5038176638176638}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0320.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 320, "time_norm": 0.975609756097561, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.899782145118378, "pregrasp_distance": 0.02526201977875634, "p_pre": 0.7334105158009561, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.9313725490196079, "three_view_whole_tray_visibility": 0.03418803418803418, "full_view_visibility": 0.9430909922267947, "full_view_whole_tray_visibility": 0.5335485913263691}
artifacts/results/oven_episode0_iter5_extract_sweep/frames/frame_0326.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"frame_index": 326, "time_norm": 0.9939024390243902, "door_angle": 0.3625572919845581, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "pregrasp_progress": 0.8990539896205267, "pregrasp_distance": 0.02544556669906896, "p_pre": 0.7335691643193487, "p_ext": 1.0, "y_pre": 1.0, "y_ext": 1.0, "three_view_visibility": 0.9411764705882353, "three_view_whole_tray_visibility": 0.03418803418803418, "full_view_visibility": 0.9512208504801097, "full_view_whole_tray_visibility": 0.5335485913263691}
artifacts/results/oven_episode0_iter5_visual_checks/iter4_batch_annotated.csv ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 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,door_speed_abs,pregrasp_speed,phase_score,approach_active,y_retrieve,y_ready,phase_switch
2
+ 170,0.5182926829268293,0.7285879850387573,1.0,1.0,0.0,0.28181150502513785,0.024926145760119495,0.2,0.0,0.0,1.0,1.0,1.0,1.0,0.0,0.023203124332669134,0.0990440337707064,0.0,0.0,0.0,0.0
3
+ 177,0.5396341463414634,0.7285879850387573,1.0,1.0,0.0,0.2806513488085044,0.025268999560617407,0.2,0.0,0.0,1.0,1.0,1.0,1.0,0.0,0.024517525491962733,0.10438735185800528,0.0,0.0,0.0,0.0
4
+ 178,0.5426829268292683,0.7285879850387573,1.0,1.0,0.0,0.2793597524759416,0.025642038989131463,0.2,0.0,0.0,1.0,1.0,1.0,1.0,0.0,0.05933652249714261,0.20641050974728287,0.0,0.0,0.0,1.0
5
+ 180,0.5487804878048781,0.7285879850387573,1.0,1.0,0.0,0.27471769655879014,0.026967764096289423,0.2,0.0,0.0,1.0,1.0,1.0,1.0,0.0,0.2711426575225684,0.20674194102407237,0.0,0.0,0.0,1.0
6
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