Add visualization scripts and metric overlay GIF artifacts

.gitattributes

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 external/rlbench/rlbench/assets/banana.ttm filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -28,9 +28,12 @@ This pass is a label study, not a policy study. No `pi0.5` integration is includ
   - `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.
 - `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.
 - `environment/`
   - Machine snapshot, conda env export, pip freeze, upstream repo revisions, runtime activation helper, setup helper, and dataset notes.
 - `MANIFEST.txt`
@@ -55,11 +58,23 @@ Relevant entry points and where to look:
   - `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_*/`
@@ -83,6 +98,19 @@ The clean single-episode artifact is:
 - `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`
@@ -119,6 +147,7 @@ The work in this bundle is the full benchmark/metric debugging path, including i
 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.
 
@@ -134,6 +163,7 @@ The result directories preserve this whole path. They are intentionally not prun
   - 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.
 

artifacts/results/oven_episode0_repaired_v1/visualizations/README.md

@@ -0,0 +1,13 @@
+# Visualizations
+
+- `episode0_visibility_focus.gif`: three-view visibility debugging montage over dense frames 220-260.
+- `episode0_path_quality_focus.gif`: path-quality / grasp-quality montage over dense frames 228-314.
+- `episode0_all_metrics.gif`: full episode overlay GIF over dense frames 0-328, sampled every 2 frames.
+- `frames/visibility_focus/`: per-frame PNGs with scene overlays, x-ray projections, and tray-mask views.
+- `frames/path_quality_focus/`: per-frame PNGs with demo wrist trails plus planned pregrasp/grasp/retreat path overlays.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- Visibility: blue = sampled tray surface, magenta = sampled grasp region, green = depth-consistent visible grasp samples.
+- Path quality: cyan/purple = recent left/right demo wrist trails, yellow = pregrasp, orange = grasp, green = retreat / extraction path.
+- All metrics: red banner = reveal phase, green banner = retrieve phase.