Update refined oven metric validation and smoke artifacts

.gitattributes

@@ -425,3 +425,12 @@ artifacts/results/oven_episode0_iter5_visual_checks/visibility_234.png filter=lf
 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
 artifacts/results/oven_episode0_iter6_visual_checks/early_visibility_contact_sheet.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame210_visibility.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode0_frame232_visibility.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_all.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_path.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/manual_metric_checks/episode6_frame230_visibility.png filter=lfs diff=lfs merge=lfs -text

MANIFEST.txt

@@ -21344,6 +21344,79 @@
 ./.cache/huggingface/upload/external/yarr/yarr/utils/video_utils.py.metadata
 ./MANIFEST.txt
 ./README.md
+./artifacts/results/iter10_episode6_probe/worker_00/templates.json
+./artifacts/results/iter10_episode6_probe/worker_00/worker.log
+./artifacts/results/iter10_episode6_probe/worker_00/xvfb.log
+./artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.keyframes.csv
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.metrics.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/summary.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log
+./artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/xvfb.log
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log
+./artifacts/results/iter11_episode6_probe_extractrobust/worker_00/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/episode5.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_05/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/episode6.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_06/xvfb.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.dense.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.keyframes.csv
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/episode7.metrics.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/summary.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/templates.json
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/worker.log
+./artifacts/results/iter12_parallel_smoke_8ep_refined/worker_07/xvfb.log
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/templates.json
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/worker.log
 ./artifacts/results/iter6_parallel_smoke_4ep_independent/worker_00/xvfb.log
@@ -21368,6 +21441,97 @@
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/templates.json
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/worker.log
 ./artifacts/results/iter7_parallel_smoke_4ep_independent/worker_03/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_00/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_01/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_02/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_03/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_04/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_05/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_06/xvfb.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/templates.json
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/worker.log
+./artifacts/results/iter8_parallel_smoke_8ep_independent/worker_07/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/parallel_workers.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/episode0.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_00/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/episode1.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_01/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/episode2.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_02/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/episode3.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_03/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/episode4.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_04/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/episode5.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_05/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/episode6.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_06/xvfb.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.dense.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.keyframes.csv
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/episode7.metrics.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/summary.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/templates.json
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/worker.log
+./artifacts/results/iter9_parallel_smoke_8ep_independent/worker_07/xvfb.log
+./artifacts/results/manual_metric_checks/episode0_frame210_all.png
+./artifacts/results/manual_metric_checks/episode0_frame210_path.png
+./artifacts/results/manual_metric_checks/episode0_frame210_visibility.png
+./artifacts/results/manual_metric_checks/episode0_frame232_all.png
+./artifacts/results/manual_metric_checks/episode0_frame232_path.png
+./artifacts/results/manual_metric_checks/episode0_frame232_visibility.png
+./artifacts/results/manual_metric_checks/episode6_frame230_all.png
+./artifacts/results/manual_metric_checks/episode6_frame230_path.png
+./artifacts/results/manual_metric_checks/episode6_frame230_visibility.png
 ./artifacts/results/oven_episode0_full/episode0.dense.csv
 ./artifacts/results/oven_episode0_full/episode0.keyframes.csv
 ./artifacts/results/oven_episode0_full/episode0.metrics.json
@@ -21882,6 +22046,8 @@
 ./code/rr_label_study/__pycache__/oven_study.cpython-311.pyc
 ./code/rr_label_study/__pycache__/oven_study.cpython-38.pyc
 ./code/rr_label_study/oven_study.py
+./code/scripts/__pycache__/launch_parallel_oven_label_study.cpython-311.pyc
+./code/scripts/__pycache__/refresh_saved_oven_study.cpython-311.pyc
 ./code/scripts/__pycache__/render_oven_metric_frame.cpython-311.pyc
 ./code/scripts/__pycache__/render_oven_metric_frame.cpython-38.pyc
 ./code/scripts/__pycache__/repair_oven_episode_dense.cpython-311.pyc

README.md

@@ -34,6 +34,9 @@ The current code addresses those issues by:
 - 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
+- recomputing intervention validity from isolated per-frame env replays instead of the old live-cache path
+- sampling intervention states earlier in the reveal phase so pre-ready extract checks are not contaminated by borderline near-ready states
+- confirming extraction feasibility with repeated planner checks inside the extract oracle so one lucky planner sample is less likely to flip a label
 
 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/`.
 
@@ -46,7 +49,7 @@ The old `iter4_*` outputs are still useful historical checkpoints, but the curre
   - Study runners and helpers.
   - `run_oven_label_study.py`: dense/keyframe study runner.
   - `launch_parallel_oven_label_study.py`: multi-display worker launcher.
-  - `refresh_saved_oven_study.py`: recompute keyframes, per-episode metrics, and summary JSONs from saved dense CSVs after metric-code changes.
+  - `refresh_saved_oven_study.py`: recompute keyframes, per-episode metrics, intervention stats, and summary JSONs from saved dense CSVs after metric-code changes.
   - `run_oven_single_frame.py`: single-frame recomputation helper.
   - `run_oven_frame_batch.py`: new sequential batch recomputation helper used to avoid late-frame drift.
   - `repair_oven_episode_dense.py`: batched repair pass for suspicious dense rows.
@@ -118,6 +121,21 @@ This fixed the major replay bug where post-oracle restores could leave the arm,
 - `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.
 
+### 6. Intervention validity repair
+
+- The old intervention summary reused the dense-study replay cache, which could still corrupt post-ready extract checks.
+- `_interventional_validity()` now evaluates each sampled intervention state from a fresh env/replay instance.
+- `refresh_saved_oven_study.py` now supports `--dataset-root` so intervention metrics can be recomputed instead of copied forward from stale JSON.
+- The refined intervention protocol now samples pre-ready states at `ready_onset-20` and `ready_onset-10` instead of `ready_onset-10` and `ready_onset-5`, which avoids counting borderline almost-ready states as generic reveal-phase interventions.
+
+### 7. Extraction-oracle hardening
+
+- `_extract_score_and_success()` now uses repeated planner checks before marking a milestone as feasible.
+- The current configuration is intentionally modest:
+  - `DEFAULT_PLAN_ATTEMPTS = 2`
+  - `DEFAULT_PLAN_MIN_SUCCESSES = 2`
+- This only hardens the extraction oracle, not the pregrasp score, so the dense study remains tractable while the noisy pre-ready extract successes are suppressed.
+
 ## Latest Validated Artifacts
 
 The current trustworthy artifacts are:
@@ -134,6 +152,12 @@ The current trustworthy artifacts are:
 - `artifacts/results/oven_episode0_iter6_independent_full/episode0.metrics.json`
 - `artifacts/results/oven_episode0_iter6_independent_full/summary.json`
 - `artifacts/results/oven_episode0_iter6_visual_checks/early_visibility_contact_sheet.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame232_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_path.png`
+- `artifacts/results/manual_metric_checks/episode6_frame230_path.png`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json`
 
 The `iter6_independent_full` CSVs and JSON summaries have been refreshed with the latest `phase_score` logic via `code/scripts/refresh_saved_oven_study.py`.
 
@@ -171,10 +195,32 @@ From the current independent-replay validation on episode 0:
   - `f1_phase_yretrieve ≈ 0.996`
   - `auroc_phase_yready ≈ 0.998`
   - `f1_phase_yready ≈ 0.905`
+- In the refreshed isolated intervention check on episode 0:
+  - pre-ready `open_more` increases `p_ext` on `2/2` sampled states
+  - pre-ready `extract` succeeds on `0/2`
+  - post-ready `extract` succeeds on `2/2`
+  - post-ready `open_more` and `hold_open` both have low marginal gain on `2/2`
 - The refreshed phase columns now place:
   - `first phase_switch` at frame `214`
   - `first y_retrieve` at frame `215`
   - `first y_ready` at frame `234`
+- The refined 8-episode independent-replay smoke in `artifacts/results/iter12_parallel_smoke_8ep_refined/` shows:
+  - `single_switch_rate = 1.0`
+  - `reversion_rate = 0.0`
+  - mean `auroc_ppre_ypre ≈ 0.809`
+  - mean `auprc_ppre_ypre ≈ 0.924`
+  - mean `auroc_pext_yext = 1.0`
+  - mean `auprc_pext_yext = 1.0`
+  - mean `f1_phase_yretrieve ≈ 0.996`
+  - mean `f1_phase_yready ≈ 0.906`
+  - mean dense boundary error to `y_retrieve ≈ 0.88` frames
+  - mean pre-ready extract success `= 0.0/2.0`
+  - mean pre-ready wait extract success `= 0.0/2.0`
+  - mean post-ready extract success `≈ 1.625/2.0`
+- The main remaining limitation on this oven task is not a broken metric but task structure:
+  - the grasp-region visibility metric is visually faithful but only weakly predictive because the tray lip is already visible early in many demos
+  - time remains a very strong trivial baseline for `y_ext` on expert demos
+  - `open_more` improves `p_ext` mainly near the reveal/retrieve boundary, not uniformly throughout the whole pre-ready window
 
 See:
 
@@ -183,6 +229,11 @@ See:
 - `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`
+- `artifacts/results/manual_metric_checks/episode0_frame210_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame232_visibility.png`
+- `artifacts/results/manual_metric_checks/episode0_frame210_path.png`
+- `artifacts/results/manual_metric_checks/episode6_frame230_path.png`
+- `artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_summary.json`
 
 ## Artifact Guide
 

artifacts/results/iter10_episode6_probe/worker_00/templates.json

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+}

artifacts/results/iter10_episode6_probe/worker_00/worker.log

@@ -0,0 +1,6 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames

artifacts/results/iter10_quick_launcher_1ep_64f/parallel_summary.json

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artifacts/results/iter10_quick_launcher_1ep_64f/parallel_workers.json

@@ -0,0 +1,9 @@
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+    "display_num": 210,
+    "episode_offset": 0,
+    "episode_count": 1,
+    "return_code": 0
+  }
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artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/episode0.dense.csv

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artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/templates.json

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artifacts/results/iter10_quick_launcher_1ep_64f/worker_00/worker.log

@@ -0,0 +1,138 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[episode0] analyzed 25/64 dense frames
+[episode0] analyzed 50/64 dense frames
+[episode0] analyzed 64/64 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
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+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.

artifacts/results/iter11_episode6_probe_extractrobust/worker_00/templates.json

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artifacts/results/iter11_episode6_probe_extractrobust/worker_00/worker.log

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+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode6] analyzed 25/328 dense frames
+[episode6] analyzed 50/328 dense frames

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artifacts/results/iter12_parallel_smoke_8ep_refined/parallel_workers.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/episode0.metrics.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/summary.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/templates.json

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+}

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_00/worker.log

@@ -0,0 +1,149 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[episode0] analyzed 25/329 dense frames
+[episode0] analyzed 50/329 dense frames
+[episode0] analyzed 75/329 dense frames
+[episode0] analyzed 100/329 dense frames
+[episode0] analyzed 125/329 dense frames
+[episode0] analyzed 150/329 dense frames
+[episode0] analyzed 175/329 dense frames
+[episode0] analyzed 200/329 dense frames
+[episode0] analyzed 225/329 dense frames
+[episode0] analyzed 250/329 dense frames
+[episode0] analyzed 275/329 dense frames
+[episode0] analyzed 300/329 dense frames
+[episode0] analyzed 325/329 dense frames
+[episode0] analyzed 329/329 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
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+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/episode1.dense.csv

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+}

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_01/worker.log

@@ -0,0 +1,138 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode1] analyzed 25/312 dense frames
+[episode1] analyzed 50/312 dense frames
+[episode1] analyzed 75/312 dense frames
+[episode1] analyzed 100/312 dense frames
+[episode1] analyzed 125/312 dense frames
+[episode1] analyzed 150/312 dense frames
+[episode1] analyzed 175/312 dense frames
+[episode1] analyzed 200/312 dense frames
+[episode1] analyzed 225/312 dense frames
+[episode1] analyzed 250/312 dense frames
+[episode1] analyzed 275/312 dense frames
+[episode1] analyzed 300/312 dense frames
+[episode1] analyzed 312/312 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
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+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.dense.csv

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/episode2.metrics.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/summary.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/templates.json

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artifacts/results/iter12_parallel_smoke_8ep_refined/worker_02/worker.log

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+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[episode2] analyzed 25/325 dense frames
+[episode2] analyzed 50/325 dense frames
+[episode2] analyzed 75/325 dense frames
+[episode2] analyzed 100/325 dense frames
+[episode2] analyzed 125/325 dense frames
+[episode2] analyzed 150/325 dense frames
+[episode2] analyzed 175/325 dense frames
+[episode2] analyzed 200/325 dense frames
+[episode2] analyzed 225/325 dense frames
+[episode2] analyzed 250/325 dense frames
+[episode2] analyzed 275/325 dense frames
+[episode2] analyzed 300/325 dense frames
+[episode2] analyzed 325/325 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 14.0,
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+    "pre_ready_open_more_trials": 2.0,
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+    "pre_ready_extract_trials": 2.0,
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+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
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+  "median_metrics": {
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+    "auprc_pext_yext": 1.0,
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+    "auprc_phase_yretrieve": 1.0000000000000002,
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+    "f1_phase_yready": 0.9045226130653267,
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+    "baseline_auprc_door_yext": 0.1568735136713249,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.5,
+    "baseline_auprc_whole_vis_yext": 0.28,
+    "pre_ready_open_more_increases_pext": 2.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 1.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 1.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/episode3.dense.csv

@@ -0,0 +1,287 @@
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+}

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_03/worker.log

@@ -0,0 +1,137 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[episode3] analyzed 25/286 dense frames
+[episode3] analyzed 50/286 dense frames
+[episode3] analyzed 75/286 dense frames
+[episode3] analyzed 100/286 dense frames
+[episode3] analyzed 125/286 dense frames
+[episode3] analyzed 150/286 dense frames
+[episode3] analyzed 175/286 dense frames
+[episode3] analyzed 200/286 dense frames
+[episode3] analyzed 225/286 dense frames
+[episode3] analyzed 250/286 dense frames
+[episode3] analyzed 275/286 dense frames
+[episode3] analyzed 286/286 dense frames
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+{
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+  "single_switch_rate": 1.0,
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+  "ordering_ok_rate": 1.0
+}
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.
+[CoppeliaSim:loadinfo]   done.

artifacts/results/iter12_parallel_smoke_8ep_refined/worker_04/episode4.dense.csv

@@ -0,0 +1,310 @@
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