Normalize non-finite metric export to null

Add iter29 single-pass logging and episode0 debug-aware GIF suite

Add iter24 geometry-aware door-contact reruns

Add iter22 pregrasp repair reruns and updated benchmark code

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Update refined oven metric validation and smoke artifacts

Sync refreshed episode0 metrics, README, and validation helpers

Sync independent-replay restore fixes and episode0 iter6 artifacts

Sync code and iter4 metric validation artifacts

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