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artifacts/data/reveal_proxy/proxy_train_clip224_v5_actionhist.pt

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+size 13366472

artifacts/data/reveal_proxy/proxy_train_smoke_v5_actionhist.pt

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+size 822400

artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt

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+size 13294184

artifacts/data/reveal_proxy/proxy_val_clip224_v5_actionhist.pt

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artifacts/data/reveal_proxy/proxy_val_smoke_v5_actionhist.pt

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artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt

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+size 4581536

artifacts/outputs/interaction_debug/ablation_no_interaction_head_actionhist/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.16666666666666666,
+      "bag_proxy": 0.5,
+      "cloth_proxy": 0.5
+    },
+    "mean_success": 0.38888888888888884,
+    "visibility_integral": 42.193298303418686,
+    "corridor_availability": 0.9207814501391517,
+    "reocclusion_rate": 0.016840277777777777,
+    "persistence_horizon_mae": 0.0,
+    "disturbance_cost": 0.5719093395810988
+  }
+}

artifacts/outputs/interaction_debug/ablation_no_interaction_head_actionhist/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt
+- mean_success: 0.389
+- visibility_integral: 42.193
+- corridor_availability: 0.921
+- reocclusion_rate: 0.017
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.572
+- foliage_proxy_success: 0.167
+- bag_proxy_success: 0.500
+- cloth_proxy_success: 0.500

artifacts/outputs/interaction_debug/ablation_no_world_model_actionhist/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.5416666666666666,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.5277777777777778,
+    "visibility_integral": 32.94181125528283,
+    "corridor_availability": 0.8710797395971086,
+    "reocclusion_rate": 0.003125,
+    "persistence_horizon_mae": 1.1577362408331497,
+    "disturbance_cost": 0.42711537962572443
+  }
+}

artifacts/outputs/interaction_debug/ablation_none_actionhist/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.5416666666666666,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.5277777777777778,
+    "visibility_integral": 32.84789120488696,
+    "corridor_availability": 0.8711970953477753,
+    "reocclusion_rate": 0.003125,
+    "persistence_horizon_mae": 1.1544888946683267,
+    "disturbance_cost": 0.4288607043110662
+  }
+}

artifacts/outputs/interaction_debug/ablation_none_actionhist/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt
+- mean_success: 0.528
+- visibility_integral: 32.848
+- corridor_availability: 0.871
+- reocclusion_rate: 0.003
+- persistence_horizon_mae: 1.154
+- disturbance_cost: 0.429
+- foliage_proxy_success: 0.417
+- bag_proxy_success: 0.542
+- cloth_proxy_success: 0.625

artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt

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+oid sha256:34a4ab95f18c0b0b1f6b3dee49341ac2cf46b05e8f3cfe8a9c4cefeb948bb495
+size 14262770

artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/config_resolved.yaml

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+experiment_name: proxy_interaction_state_actionhist
+output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
+device: cuda
+seed: 13
+data:
+  proxies:
+  - foliage_proxy
+  - bag_proxy
+  - cloth_proxy
+  resolution: 96
+  train_episodes_per_proxy: 48
+  val_episodes_per_proxy: 16
+  train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt
+  val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt
+  rebuild_dataset: true
+  chunk_horizon: 8
+  rollout_horizon: 5
+  history_steps: 6
+  planner_candidates: 8
+  seed: 13
+optim:
+  epochs: 10
+  batch_size: 16
+  num_workers: 0
+  lr: 0.001
+  weight_decay: 0.0001
+trainer:
+  policy_type: interaction_state
+  use_bf16: true
+  grad_clip_norm: 1.0
+  freeze_backbone: true
+  gradient_checkpointing: false
+  plan_during_train: true
+  plan_during_eval: true
+  support_mode_conditioning: true
+  planner_mode: trainable
+policy:
+  backbone:
+    model_name: openai/clip-vit-base-patch32
+    hidden_dim: 128
+    max_text_tokens: 32
+    freeze_backbone: true
+    gradient_checkpointing: false
+    use_dummy_backbone: true
+  fusion:
+    hidden_dim: 128
+    num_cameras: 3
+    num_layers: 2
+    num_heads: 4
+    ff_dim: 256
+    dropout: 0.1
+    proprio_dim: 32
+    proprio_tokens: 1
+  memory:
+    hidden_dim: 128
+    action_dim: 14
+    history_steps: 6
+    num_layers: 2
+    dropout: 0.1
+    memory_bank_size: 4
+    num_heads: 4
+    max_history_steps: 8
+  decoder:
+    hidden_dim: 128
+    num_heads: 4
+    num_layers: 2
+    ff_dim: 256
+    dropout: 0.1
+    chunk_size: 8
+    action_dim: 14
+    arm_action_dim: 7
+    num_candidates: 8
+    num_phases: 5
+    num_arm_roles: 4
+  reveal_head:
+    hidden_dim: 128
+    num_support_modes: 3
+    num_approach_templates: 32
+    rollout_horizon: 5
+    belief_map_size: 32
+    field_size: 16
+    num_heads: 4
+    predict_belief_map: true
+    num_phases: 5
+    num_arm_roles: 4
+    num_interaction_tokens: 8
+  world_model:
+    hidden_dim: 128
+    action_dim: 14
+    num_support_modes: 3
+    num_approach_templates: 32
+    rollout_horizon: 5
+    field_size: 16
+    num_heads: 4
+    num_phases: 5
+    num_arm_roles: 4
+    num_interaction_tokens: 8
+  planner:
+    hidden_dim: 128
+    num_candidates: 8
+    action_dim: 14
+    num_support_modes: 3
+    utility_margin: 0.1
+    num_heads: 4
+    num_layers: 2
+    num_phases: 5
+    num_arm_roles: 4
+loss_weights:
+  action: 1.0
+  phase: 0.15
+  arm_role: 0.2
+  support_mode: 0.15
+  corridor: 0.2
+  persistence: 0.1
+  disturbance: 0.1
+  world_model: 0.25
+  belief: 0.05
+  planner_success: 0.2
+  planner_risk: 0.1
+  planner_ranking: 0.1
+  proposal_reconstruction: 0.2
+  proposal_success: 0.1
+  proposal_ranking: 0.1

artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/diagnostics/proxy_diagnostics.json

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+{
+  "planner_top1_accuracy": 0.1984732824427481,
+  "planner_regret": 0.07150506228208542,
+  "risk_calibration_mse": 0.009851997718214989,
+  "role_collapse_rate": 0.0,
+  "num_samples": 131
+}

artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/metrics.json

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artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/checkpoint_best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:54df000293b3795beb34e6696ed2e18664ea87df6aaf81cf39ec9b23c589580a
+size 3810162

artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/config_resolved.yaml

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+experiment_name: proxy_interaction_state_actionhist_smoke
+output_dir: /workspace/VLAarchtests/artifacts/outputs/interaction_debug
+device: cuda
+seed: 13
+data:
+  proxies:
+  - foliage_proxy
+  - bag_proxy
+  - cloth_proxy
+  resolution: 64
+  train_episodes_per_proxy: 6
+  val_episodes_per_proxy: 2
+  train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_smoke_v5_actionhist.pt
+  val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_smoke_v5_actionhist.pt
+  rebuild_dataset: true
+  chunk_horizon: 4
+  rollout_horizon: 3
+  history_steps: 6
+  planner_candidates: 4
+  seed: 13
+optim:
+  epochs: 4
+  batch_size: 8
+  num_workers: 0
+  lr: 0.001
+  weight_decay: 0.0001
+trainer:
+  policy_type: interaction_state
+  use_bf16: true
+  grad_clip_norm: 1.0
+  freeze_backbone: true
+  gradient_checkpointing: false
+  plan_during_train: true
+  plan_during_eval: true
+  support_mode_conditioning: true
+  planner_mode: trainable
+policy:
+  backbone:
+    model_name: openai/clip-vit-base-patch32
+    hidden_dim: 64
+    max_text_tokens: 32
+    freeze_backbone: true
+    gradient_checkpointing: false
+    use_dummy_backbone: true
+  fusion:
+    hidden_dim: 64
+    num_cameras: 3
+    num_layers: 2
+    num_heads: 4
+    ff_dim: 128
+    dropout: 0.1
+    proprio_dim: 32
+    proprio_tokens: 1
+  memory:
+    hidden_dim: 64
+    action_dim: 14
+    history_steps: 6
+    num_layers: 2
+    dropout: 0.1
+    memory_bank_size: 4
+    num_heads: 4
+    max_history_steps: 8
+  decoder:
+    hidden_dim: 64
+    num_heads: 4
+    num_layers: 2
+    ff_dim: 128
+    dropout: 0.1
+    chunk_size: 4
+    action_dim: 14
+    arm_action_dim: 7
+    num_candidates: 4
+    num_phases: 5
+    num_arm_roles: 4
+  reveal_head:
+    hidden_dim: 64
+    num_support_modes: 3
+    num_approach_templates: 32
+    rollout_horizon: 3
+    belief_map_size: 32
+    field_size: 16
+    num_heads: 4
+    predict_belief_map: true
+    num_phases: 5
+    num_arm_roles: 4
+    num_interaction_tokens: 8
+  world_model:
+    hidden_dim: 64
+    action_dim: 14
+    num_support_modes: 3
+    num_approach_templates: 32
+    rollout_horizon: 3
+    field_size: 16
+    num_heads: 4
+    num_phases: 5
+    num_arm_roles: 4
+    num_interaction_tokens: 8
+  planner:
+    hidden_dim: 64
+    num_candidates: 4
+    action_dim: 14
+    num_support_modes: 3
+    utility_margin: 0.1
+    num_heads: 4
+    num_layers: 2
+    num_phases: 5
+    num_arm_roles: 4
+loss_weights:
+  action: 1.0
+  phase: 0.15
+  arm_role: 0.2
+  support_mode: 0.15
+  corridor: 0.2
+  persistence: 0.1
+  disturbance: 0.1
+  world_model: 0.25
+  belief: 0.05
+  planner_success: 0.2
+  planner_risk: 0.1
+  planner_ranking: 0.1
+  proposal_reconstruction: 0.2
+  proposal_success: 0.1
+  proposal_ranking: 0.1

artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4adeddd399c964ef4536e44b963d3e061fe4734a9e0ae84d6961ffc81b1331
+size 942404672

artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/checkpoint_best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:be03ccc29ab53e41e5b6065bd5cc4ae35edd53da600a4ae7e2e4beb5693c76ab
+size 14260274

artifacts/outputs/interaction_debug/reveal_eval_commit8_compare/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.2916666666666667,
+      "bag_proxy": 0.5416666666666666,
+      "cloth_proxy": 0.7083333333333334
+    },
+    "mean_success": 0.5138888888888888,
+    "visibility_integral": 24.377886186043423,
+    "corridor_availability": 0.7185707421352466,
+    "reocclusion_rate": 0.035547913343965974,
+    "persistence_horizon_mae": 1.5261633908191676,
+    "disturbance_cost": 0.33828365347451633
+  },
+  "backbone": {
+    "per_task_success": {
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+      "bag_proxy": 0.3333333333333333,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.4166666666666667,
+    "visibility_integral": 16.212429179085625,
+    "corridor_availability": 0.5099402347372638,
+    "reocclusion_rate": 0.035937500000000004,
+    "persistence_horizon_mae": 0.0,
+    "disturbance_cost": 0.14064574577949113
+  },
+  "reveal": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.5833333333333334,
+      "cloth_proxy": 0.6666666666666666
+    },
+    "mean_success": 0.5555555555555555,
+    "visibility_integral": 32.11319461464882,
+    "corridor_availability": 0.8064262109498183,
+    "reocclusion_rate": 0.05781655348648813,
+    "persistence_horizon_mae": 1.9629322701129155,
+    "disturbance_cost": 0.22681122702649897
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_commit8_compare/reveal_benchmark.md

@@ -0,0 +1,37 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt
+- mean_success: 0.514
+- visibility_integral: 24.378
+- corridor_availability: 0.719
+- reocclusion_rate: 0.036
+- persistence_horizon_mae: 1.526
+- disturbance_cost: 0.338
+- foliage_proxy_success: 0.292
+- bag_proxy_success: 0.542
+- cloth_proxy_success: 0.708
+
+## backbone
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 0.417
+- visibility_integral: 16.212
+- corridor_availability: 0.510
+- reocclusion_rate: 0.036
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.141
+- foliage_proxy_success: 0.292
+- bag_proxy_success: 0.333
+- cloth_proxy_success: 0.625
+
+## reveal
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.556
+- visibility_integral: 32.113
+- corridor_availability: 0.806
+- reocclusion_rate: 0.058
+- persistence_horizon_mae: 1.963
+- disturbance_cost: 0.227
+- foliage_proxy_success: 0.417
+- bag_proxy_success: 0.583
+- cloth_proxy_success: 0.667

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_commit4/reveal_benchmark.json

@@ -0,0 +1,15 @@
+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.5416666666666666,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.5277777777777778,
+    "visibility_integral": 32.84789120488696,
+    "corridor_availability": 0.8711970953477753,
+    "reocclusion_rate": 0.003125,
+    "persistence_horizon_mae": 1.1544888946683267,
+    "disturbance_cost": 0.4288607043110662
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_commit4/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt
+- mean_success: 0.528
+- visibility_integral: 32.848
+- corridor_availability: 0.871
+- reocclusion_rate: 0.003
+- persistence_horizon_mae: 1.154
+- disturbance_cost: 0.429
+- foliage_proxy_success: 0.417
+- bag_proxy_success: 0.542
+- cloth_proxy_success: 0.625

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_smoke/reveal_benchmark.json

@@ -0,0 +1,15 @@
+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.0,
+      "bag_proxy": 0.0,
+      "cloth_proxy": 0.0
+    },
+    "mean_success": 0.0,
+    "visibility_integral": 63.63303746117486,
+    "corridor_availability": 0.9842249751091003,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 2.931804162517397,
+    "disturbance_cost": 0.8506438152657615
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_smoke/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/checkpoint_best.pt
+- mean_success: 0.000
+- visibility_integral: 63.633
+- corridor_availability: 0.984
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 2.932
+- disturbance_cost: 0.851
+- foliage_proxy_success: 0.000
+- bag_proxy_success: 0.000
+- cloth_proxy_success: 0.000

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_smoke_commit4_short/reveal_benchmark.json

@@ -0,0 +1,15 @@
+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.75,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.625,
+    "visibility_integral": 26.89287617057562,
+    "corridor_availability": 0.8617658143242201,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 2.787702427190893,
+    "disturbance_cost": 0.3262111305569609
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_smoke_commit4_short/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/checkpoint_best.pt
+- mean_success: 0.625
+- visibility_integral: 26.893
+- corridor_availability: 0.862
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 2.788
+- disturbance_cost: 0.326
+- foliage_proxy_success: 0.500
+- bag_proxy_success: 0.750
+- cloth_proxy_success: 0.625

artifacts/outputs/interaction_debug/reveal_eval_interaction_rolefix_full_commit4/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.2916666666666667,
+      "bag_proxy": 0.041666666666666664,
+      "cloth_proxy": 0.16666666666666666
+    },
+    "mean_success": 0.16666666666666666,
+    "visibility_integral": 17.456528491444057,
+    "corridor_availability": 0.48336762624482316,
+    "reocclusion_rate": 0.11013933982683982,
+    "persistence_horizon_mae": 1.8837784738524963,
+    "disturbance_cost": 0.2859070710207258
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_interaction_rolefix_full_commit4/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/checkpoint_best.pt
+- mean_success: 0.167
+- visibility_integral: 17.457
+- corridor_availability: 0.483
+- reocclusion_rate: 0.110
+- persistence_horizon_mae: 1.884
+- disturbance_cost: 0.286
+- foliage_proxy_success: 0.292
+- bag_proxy_success: 0.042
+- cloth_proxy_success: 0.167

artifacts/outputs/interaction_debug/reveal_eval_interaction_rolefix_smoke_commit4_short/reveal_benchmark.json

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+{
+  "interaction": {
+    "per_task_success": {
+      "foliage_proxy": 0.375,
+      "bag_proxy": 0.375,
+      "cloth_proxy": 0.25
+    },
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+    "visibility_integral": 43.64047184586525,
+    "corridor_availability": 0.9287551492452621,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 2.8099890020956475,
+    "disturbance_cost": 0.6381748262792826
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_interaction_rolefix_smoke_commit4_short/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## interaction
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/checkpoint_best.pt
+- mean_success: 0.333
+- visibility_integral: 43.640
+- corridor_availability: 0.929
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 2.810
+- disturbance_cost: 0.638
+- foliage_proxy_success: 0.375
+- bag_proxy_success: 0.375
+- cloth_proxy_success: 0.250

artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.json

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+{
+  "backbone": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.5833333333333334,
+      "cloth_proxy": 0.6666666666666666
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+    "persistence_horizon_mae": 0.0,
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+  },
+  "reveal": {
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+      "cloth_proxy": 0.625
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+    "disturbance_cost": 0.42389288420478505
+  }
+}

artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.md

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+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 0.556
+- visibility_integral: 29.274
+- corridor_availability: 0.794
+- reocclusion_rate: 0.079
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.401
+- foliage_proxy_success: 0.417
+- bag_proxy_success: 0.583
+- cloth_proxy_success: 0.667
+
+## reveal
+- checkpoint: /workspace/VLAarchtests/artifacts/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.542
+- visibility_integral: 30.107
+- corridor_availability: 0.813
+- reocclusion_rate: 0.052
+- persistence_horizon_mae: 2.100
+- disturbance_cost: 0.424
+- foliage_proxy_success: 0.417
+- bag_proxy_success: 0.583
+- cloth_proxy_success: 0.625

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_clipped/rollout_eval.json

@@ -0,0 +1,23 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "proxy_pretrained",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 128,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "open_drawer": {
+      "error": "A path could not be found. Most likely due to the target being inaccessible or a collison was detected.",
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_clipped/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt`
+- Plan requested: `True`
+- Plan applied: `True`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `open_drawer`: error=A path could not be found. Most likely due to the target being inaccessible or a collison was detected.

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_recovered/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "proxy_pretrained",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 128,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "open_drawer": {
+      "task_class": "OpenDrawer",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_recovered/rollout_eval.md

@@ -0,0 +1,11 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt`
+- Plan requested: `True`
+- Plan applied: `True`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `open_drawer`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_rerun/rollout_eval.json

@@ -0,0 +1,23 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "proxy_pretrained",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 128,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "open_drawer": {
+      "error": "A path could not be found because the target is outside of workspace.",
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_rerun/rollout_eval.md

@@ -0,0 +1,11 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt`
+- Plan requested: `True`
+- Plan applied: `True`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `open_drawer`: error=A path could not be found because the target is outside of workspace.