diff --git a/.gitattributes b/.gitattributes
index 80d06a900f89a903bbf3b5b912d35abda17416dd..dbd0f43e87f4c4dd71d61e5bdc9135d436849b99 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1485,3 +1485,13 @@ artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/vis
 artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/visualizations/frames/visibility_focus/frame_0169.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/visualizations/frames/visibility_focus/frame_0170.png filter=lfs diff=lfs merge=lfs -text
 artifacts/results/metric_iter29_ep0_single_pass_full_logging_fixed_templates/visualizations/frames/visibility_focus/frame_0171.png filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/episode12_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/visualizations/episode14_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/visualizations/episode43_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/visualizations/episode46_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/visualizations/episode47_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/episode63_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/visualizations/episode69_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/visualizations/episode73_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/visualizations/episode90_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
+artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/visualizations/episode97_all_metrics.gif filter=lfs diff=lfs merge=lfs -text
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d466e554116c63bafdfd0e14b5cb1aedb1371251
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/README.md
@@ -0,0 +1,7 @@
+# Sample Verification Bundle
+
+This folder contains 10 randomly selected episodes rendered in `all_metrics`-only mode.
+
+Selection seed: `20260408`
+
+Episodes: `episode97`, `episode90`, `episode73`, `episode69`, `episode12`, `episode63`, `episode47`, `episode43`, `episode14`, `episode46`
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.debug.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ade73b77705835a641abbf58e94830112af0ff9e
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.debug.jsonl
@@ -0,0 +1,416 @@
+{"frame_index": 0, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.30247366428375244, 0.06813990324735641, 1.4700709581375122, -0.04329957813024521, 0.9918874502182007, 0.005202561151236296, 0.11940431594848633], "right_arm_pose": [0.24517719447612762, -0.24186834692955017, 1.4707541465759277, -0.9927893280982971, 5.938516665082716e-07, 0.11987263709306717, 1.7067501175915822e-05], "left_arm_joint_positions": [-9.500963642494753e-07, 0.17559531331062317, -4.258483386365697e-06, -0.8736729025840759, 2.5085082597797737e-06, 1.221362829208374, 0.7853995561599731], "right_arm_joint_positions": [3.103019480477087e-06, 0.17584088444709778, -2.2139876818982884e-05, -0.8734306693077087, -2.0856510673183948e-05, 1.2213776111602783, 0.785417914390564], "pregrasp_goal_pose": [0.399572820210226, 0.22824561746211, 1.040931029226625, 0.361643804413346, 0.6702200336725904, 0.5684351678508709, 0.31128817058106445], "pregrasp_position_error": 0.46821273411932246, "pregrasp_orientation_error_deg": 92.85841781415562}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 254, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 245, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.399572820210226, 0.22824561746211, 1.040931029226625, 0.361643804413346, 0.6702200336725904, 0.5684351678508709, 0.31128817058106445], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 4.559528360385211, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03834843635559082, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.3368086786865838, "step_quality_min": -0.5736698612285724, "step_quality_max": 0.5142266600785624, "alignment_signed_mean": -0.7403718991846132, "alignment_abs_mean": 0.9105915476735943, "alignment_min": -0.9889871618466819, "alignment_max": 0.9374828373681791, "door_contact_steps": 21, "path_steps": 97}, {"path_found": true, "path_length": 4.556990861869596, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03783392906188965, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.27432900979129066, "step_quality_min": -0.5319016843918947, "step_quality_max": 0.5434841011955553, "alignment_signed_mean": -0.7037150467868282, "alignment_abs_mean": 0.8788455830017002, "alignment_min": -0.9898554540667317, "alignment_max": 0.9465319074684903, "door_contact_steps": 21, "path_steps": 97}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.379572820210226, 0.22824561746211, 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"post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.014215707778930664, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_knob_8"], "bad_collision_names": [], "step_quality_mean": -0.16635752628691575, "step_quality_min": -0.6961442304857035, "step_quality_max": 0.8447903457327801, "alignment_signed_mean": -0.5541817317230897, "alignment_abs_mean": 0.8031017875141501, "alignment_min": -0.950722639011901, "alignment_max": 0.9209688412294428, "door_contact_steps": 23, "path_steps": 98}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.419572820210226, 0.22824561746211, 1.040931029226625, 0.361643804413346, 0.6702200336725904, 0.5684351678508709, 0.31128817058106445], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 4.48788358636255, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03412365913391113, "door_quality": 0.056333012431315985, "collision_names": ["oven_base", "oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_base", "oven_frame0"], "step_quality_mean": 0.08047573204473712, "step_quality_min": -0.41467400280849637, "step_quality_max": 0.6125267078025189, "alignment_signed_mean": -0.3643200307942241, "alignment_abs_mean": 0.645450708820463, "alignment_min": -0.9342348526495572, "alignment_max": 0.9342348526495572, "door_contact_steps": 26, 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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b808e928c81e9276fa2f99beea87f288aa72f97b
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.dense.csv
@@ -0,0 +1,417 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a3256e0da33972429ce43470ab17ea638feebca
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4747e749e4c91b1f0290b04b5e0b009be74e552e
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/episode12.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode12",
+  "description": "take tray out of oven",
+  "num_dense_frames": 416,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 178,
+  "pext_cross_frame": 313,
+  "phase_cross_frame": 228,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 314,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 86.0,
+  "dense_boundary_error_fraction": 0.20673076923076922,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": 1.0,
+  "auroc_vret_ypre_three": 0.9855125064271241,
+  "auprc_vret_ypre_three": 0.9802560206064996,
+  "auroc_vret_ypre_full": 0.9565980098599643,
+  "auprc_vret_ypre_full": 0.9512801373366649,
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+  "f1_phase_yretrieve": NaN,
+  "auroc_phase_yready": 0.9920382165605096,
+  "auprc_phase_yready": 0.9532710280373832,
+  "f1_phase_yready": 0.7034482758620689,
+  "baseline_auroc_door_yext": 0.0,
+  "baseline_auprc_door_yext": 0.1368998706348998,
+  "baseline_auroc_time_yext": 1.0,
+  "baseline_auprc_time_yext": 1.0,
+  "baseline_auroc_whole_vis_yext": 0.9092403610533826,
+  "baseline_auprc_whole_vis_yext": 0.8891058829909149,
+  "pre_ready_open_more_increases_pext": 1.0,
+  "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": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.json
@@ -0,0 +1,244 @@
+{
+  "template_mode": "per_episode",
+  "template_episode": "episode0",
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+  "template_source_json": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter24_ep0_door_contact_geom/templates.json"
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..24167610d7bb39bde00897525347aaba4a3f1c73
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/templates.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9654a892a8bc231d35df19d719d44ddddb754b3a6748332d18d91e6eb3ba48f6
+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..93f33589a20c3d2b33bcee212ee65e4a4b5e2c9f
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/README.md
@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode12_all_metrics.gif`: full episode overlay GIF over dense frames 0-415, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/episode12_all_metrics.gif b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/episode12_all_metrics.gif
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+size 17838170
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1503.log b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1503.log
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1505.log b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1505.log
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1506.log b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1506.log
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1507.log b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode12/visualizations/xvfb_1507.log
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.debug.jsonl
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07eaf6f7282fd8a5b42fcf0f970ae5ed2fc2f006
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.dense.csv
@@ -0,0 +1,328 @@
+frame_index,time_norm,door_angle,right_gripper_open,left_gripper_open,right_arm_pose_x,right_arm_pose_y,right_arm_pose_z,right_arm_pose_qx,right_arm_pose_qy,right_arm_pose_qz,right_arm_pose_qw,left_arm_pose_x,left_arm_pose_y,left_arm_pose_z,left_arm_pose_qx,left_arm_pose_qy,left_arm_pose_qz,left_arm_pose_qw,tray_height,tray_grasped_left,pregrasp_progress,pregrasp_distance,pregrasp_position_error,pregrasp_orientation_error_deg,p_pre,p_ext,y_pre_raw,y_ext_raw,y_pre,y_ext,p_pre_source_strict,p_pre_source_assisted,p_pre_bump_applied,p_pre_base_score,p_pre_strict_length,p_pre_assisted_length,p_pre_assisted_reliability,p_pre_post_assist_strict_feasible,p_pre_door_open_delta,p_pre_door_quality,p_pre_step_quality_mean,p_pre_step_quality_min,p_pre_step_quality_max,p_pre_alignment_signed_mean,p_pre_alignment_abs_mean,p_pre_collision_count,p_pre_bad_collision_count,p_pre_best_goal_index,p_pre_num_goal_poses,p_pre_best_target_pose_x,p_pre_best_target_pose_y,p_pre_best_target_pose_z,p_pre_best_target_pose_qx,p_pre_best_target_pose_qy,p_pre_best_target_pose_qz,p_pre_best_target_pose_qw,p_ext_initial_height,p_ext_final_height,p_ext_total_length,p_ext_already_grasped_start,p_ext_already_grasped_end,p_ext_num_milestones,p_ext_first_failed_milestone,p_ext_min_reliability,p_ext_mean_reliability,p_ext_approach_score,p_ext_retreat_score,three_view_visibility,three_view_whole_tray_visibility,full_view_visibility,full_view_whole_tray_visibility,front_grasp_visibility,front_tray_visibility,front_grasp_projected_count,front_grasp_visible_count,front_tray_projected_count,front_tray_visible_count,overhead_grasp_visibility,overhead_tray_visibility,overhead_grasp_projected_count,overhead_grasp_visible_count,overhead_tray_projected_count,overhead_tray_visible_count,wrist_right_grasp_visibility,wrist_right_tray_visibility,wrist_right_grasp_projected_count,wrist_right_grasp_visible_count,wrist_right_tray_projected_count,wrist_right_tray_visible_count,wrist_left_grasp_visibility,wrist_left_tray_visibility,wrist_left_grasp_projected_count,wrist_left_grasp_visible_count,wrist_left_tray_projected_count,wrist_left_tray_visible_count,over_shoulder_left_grasp_visibility,over_shoulder_left_tray_visibility,over_shoulder_left_grasp_projected_count,over_shoulder_left_grasp_visible_count,over_shoulder_left_tray_projected_count,over_shoulder_left_tray_visible_count,over_shoulder_right_grasp_visibility,over_shoulder_right_tray_visibility,over_shoulder_right_grasp_projected_count,over_shoulder_right_grasp_visible_count,over_shoulder_right_tray_projected_count,over_shoulder_right_tray_visible_count,door_speed_signed,door_speed_abs,pregrasp_speed,y_pre_seed_raw,y_pre_progress_seed,y_ext_seed_raw,phase_score,approach_active,retrieve_onset_raw,y_retrieve,ready_seed_raw,y_ready,phase_seed_raw,phase_switch,p_pre_minus_tau,p_ext_minus_tau,door_speed_margin
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..455ab5a8054af944002ffbb0fc4f5e9a33354531
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..775987f448551430a08524d1087dda2b3f8e523f
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/episode14.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "pext_cross_frame": 227,
+  "phase_cross_frame": 179,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 228,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
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+  "key_boundary_error_to_retrieve_keyframes": NaN,
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+  "pre_ready_hold_open_increases_pext": 0.0,
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+  "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": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.json
@@ -0,0 +1,244 @@
+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..24167610d7bb39bde00897525347aaba4a3f1c73
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/templates.pkl
@@ -0,0 +1,3 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode14/visualizations/README.md
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+# Visualizations
+
+- `episode14_all_metrics.gif`: full episode overlay GIF over dense frames 0-326, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.debug.jsonl
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8076d2bd61364f9be13e9cb946a99aa6d7f4ed5a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.dense.csv
@@ -0,0 +1,300 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..684e6643037820c05f00681a6875843cdec52741
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c513f954b4c3d544cbbf94762725a024a2f1762
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/episode43.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "pext_cross_frame": 225,
+  "phase_cross_frame": 147,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 226,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 79.0,
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+  "key_boundary_error_to_retrieve_keyframes": NaN,
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+  "baseline_auroc_whole_vis_yext": 0.933033033033033,
+  "baseline_auprc_whole_vis_yext": 0.9054127334645724,
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+  "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": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/templates.json
@@ -0,0 +1,244 @@
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9654a892a8bc231d35df19d719d44ddddb754b3a6748332d18d91e6eb3ba48f6
+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode43/visualizations/README.md
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--- /dev/null
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+# Visualizations
+
+- `episode43_all_metrics.gif`: full episode overlay GIF over dense frames 0-298, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b99057bedb4017eba4c691f4844f20dedfb2dd64
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.dense.csv
@@ -0,0 +1,317 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2d4305d8d35b1f10a4b9b2d23c2d57f0274a1e8
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1168013715e2a5c9a6b688b6eb93085e59f6102
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/episode46.metrics.json
@@ -0,0 +1,53 @@
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+}
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/templates.json
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+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/templates.pkl
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/visualizations/README.md
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--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode46/visualizations/README.md
@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode46_all_metrics.gif`: full episode overlay GIF over dense frames 0-315, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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+size 13483189
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.debug.jsonl
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..252c746d5916d44939164b617e0066f575c9406e
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.dense.csv
@@ -0,0 +1,316 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60237ee7e7e06ac12fb6c8a294fe6fd1ab6f5490
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3c527535d131155a38e9fd613af9cf090987a6
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/episode47.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
+  "num_dense_frames": 315,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 142,
+  "pext_cross_frame": 236,
+  "phase_cross_frame": 151,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 237,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 86.0,
+  "dense_boundary_error_fraction": 0.273015873015873,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": 1.0,
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+  "auprc_vret_ypre_three": 0.8620631096403324,
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+  "f1_phase_yready": 0.6446280991735537,
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+  "baseline_auprc_time_yext": 0.9999999999999999,
+  "baseline_auroc_whole_vis_yext": 0.8946041621969534,
+  "baseline_auprc_whole_vis_yext": 0.8310403923614793,
+  "pre_ready_open_more_increases_pext": 0.0,
+  "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": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/templates.json
@@ -0,0 +1,244 @@
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9654a892a8bc231d35df19d719d44ddddb754b3a6748332d18d91e6eb3ba48f6
+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode47/visualizations/README.md
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--- /dev/null
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@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode47_all_metrics.gif`: full episode overlay GIF over dense frames 0-314, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e013d494dc1e496586dff5cf5edbf7b03cebb970
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.dense.csv
@@ -0,0 +1,327 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a74897454d3cae9a31174f3f861d617c308981c3
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8b6a4da466f3c310246d2db97d86556758244d
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/episode63.metrics.json
@@ -0,0 +1,53 @@
+{
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/templates.pkl
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+version https://git-lfs.github.com/spec/v1
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+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/README.md
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--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/README.md
@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode63_all_metrics.gif`: full episode overlay GIF over dense frames 0-325, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/episode63_all_metrics.gif b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode63/visualizations/episode63_all_metrics.gif
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+size 15219421
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.debug.jsonl
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a532cadc36d3b4b591433aca1d5a0157f3d98df
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.dense.csv
@@ -0,0 +1,318 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a06a26a5156f6713bb2cf222011f300a77fe133f
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d29c139d19738eccc226aa99325a4723df1682d
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/episode69.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode69",
+  "description": "take tray out of oven",
+  "num_dense_frames": 317,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 139,
+  "pext_cross_frame": 235,
+  "phase_cross_frame": 147,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 236,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 89.0,
+  "dense_boundary_error_fraction": 0.2807570977917981,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": 1.0,
+  "auroc_vret_ypre_three": 0.988919878296146,
+  "auprc_vret_ypre_three": 0.9801591486375134,
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+  "baseline_auprc_whole_vis_yext": 0.9008374094165867,
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+  "pre_ready_open_more_trials": 2.0,
+  "pre_ready_hold_open_increases_pext": 0.0,
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+}
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
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+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/templates.pkl
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+version https://git-lfs.github.com/spec/v1
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+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/visualizations/README.md
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--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode69/visualizations/README.md
@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode69_all_metrics.gif`: full episode overlay GIF over dense frames 0-316, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.debug.jsonl
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@@ -0,0 +1,339 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2561ea7e4b5f5d9dcf7bb8f9f9bd17318c25e94
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.dense.csv
@@ -0,0 +1,340 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2ce8153e706035761d50ff176d608f79c1ddfe0
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..706a0a1a4fbfdda16b3535230e2dd958f55ff18f
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/episode73.metrics.json
@@ -0,0 +1,53 @@
+{
+  "episode_name": "episode73",
+  "description": "take tray out of oven",
+  "num_dense_frames": 339,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 150,
+  "pext_cross_frame": 250,
+  "phase_cross_frame": 219,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 252,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 33.0,
+  "dense_boundary_error_fraction": 0.09734513274336283,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": 0.0,
+  "auroc_vret_ypre_three": 0.9698876404494382,
+  "auprc_vret_ypre_three": 0.953979807015311,
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+}
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/templates.json
new file mode 100644
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+{
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+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/templates.pkl
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+version https://git-lfs.github.com/spec/v1
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+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/visualizations/README.md
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--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode73/visualizations/README.md
@@ -0,0 +1,7 @@
+# Visualizations
+
+- `episode73_all_metrics.gif`: full episode overlay GIF over dense frames 0-338, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.debug.jsonl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.debug.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9d7440d75d55783ab5302050d80c921003e4dcf
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+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.debug.jsonl
@@ -0,0 +1,333 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c40132d52aad685c826e239297966c9fcd5c23b7
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.dense.csv
@@ -0,0 +1,334 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5d32933df4357d599b4804ba9b7cfc318b2b066
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c3f4001da095864595029ed52b640a6580faabc
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/episode90.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
+  "num_dense_frames": 333,
+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
+  "ppre_cross_frame": 153,
+  "pext_cross_frame": 248,
+  "phase_cross_frame": 153,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 248,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 95.0,
+  "dense_boundary_error_fraction": 0.2852852852852853,
+  "key_boundary_error_to_retrieve_keyframes": NaN,
+  "key_boundary_error_keyframes": 3.0,
+  "auroc_vret_ypre_three": 0.9578849721706865,
+  "auprc_vret_ypre_three": 0.9001943636691713,
+  "auroc_vret_ypre_full": 0.9941558441558441,
+  "auprc_vret_ypre_full": 0.9913747621504538,
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+  "auroc_phase_yretrieve": NaN,
+  "auprc_phase_yretrieve": NaN,
+  "f1_phase_yretrieve": NaN,
+  "auroc_phase_yready": 0.9939516129032258,
+  "auprc_phase_yready": 0.9659090909090909,
+  "f1_phase_yready": 0.6415094339622641,
+  "baseline_auroc_door_yext": 0.0,
+  "baseline_auprc_door_yext": 0.14169326540452004,
+  "baseline_auroc_time_yext": 1.0,
+  "baseline_auprc_time_yext": 0.9999999999999998,
+  "baseline_auroc_whole_vis_yext": 0.9274193548387097,
+  "baseline_auprc_whole_vis_yext": 0.8991445438195006,
+  "pre_ready_open_more_increases_pext": 0.0,
+  "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": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/templates.json
@@ -0,0 +1,244 @@
+{
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+  "template_source_json": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter24_ep0_door_contact_geom/templates.json"
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/templates.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..24167610d7bb39bde00897525347aaba4a3f1c73
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode90/visualizations/README.md
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+# Visualizations
+
+- `episode90_all_metrics.gif`: full episode overlay GIF over dense frames 0-332, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.dense.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.dense.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47f5071f7918f71ee2be02c66b5ea128603f3c60
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.dense.csv
@@ -0,0 +1,319 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.keyframes.csv b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.keyframes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9af52489bf369cfa3825a20dd3f03472d4718b66
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.keyframes.csv
@@ -0,0 +1,15 @@
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.metrics.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a4a6fb824393207b77c8767ffe4ccefc50bae2
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/episode97.metrics.json
@@ -0,0 +1,53 @@
+{
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+  "description": "take tray out of oven",
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+  "num_keyframes": 14,
+  "phase_switch_rises": 1,
+  "phase_switch_falls": 0,
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+  "phase_cross_frame": 197,
+  "retrieve_cross_frame": -1,
+  "ready_cross_frame": 225,
+  "ordering_ok": true,
+  "dense_boundary_error_to_retrieve_frames": NaN,
+  "dense_boundary_error_frames": 28.0,
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+  "key_boundary_error_to_retrieve_keyframes": NaN,
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+  "baseline_auroc_whole_vis_yext": 0.9081496960486322,
+  "baseline_auprc_whole_vis_yext": 0.8896916758605782,
+  "pre_ready_open_more_increases_pext": 1.0,
+  "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": 2.0,
+  "post_ready_extract_trials": 2.0,
+  "post_ready_open_more_low_gain": 2.0,
+  "post_ready_open_more_trials": 2.0,
+  "post_ready_hold_open_low_gain": 2.0,
+  "post_ready_hold_open_trials": 2.0
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/templates.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/templates.json
@@ -0,0 +1,244 @@
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+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/templates.pkl b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/templates.pkl
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9654a892a8bc231d35df19d719d44ddddb754b3a6748332d18d91e6eb3ba48f6
+size 2351
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/visualizations/README.md b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/visualizations/README.md
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--- /dev/null
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+# Visualizations
+
+- `episode97_all_metrics.gif`: full episode overlay GIF over dense frames 0-317, sampled every 2 frames.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- All metrics: red banner = reveal phase, green banner = retrieve phase.
\ No newline at end of file
diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/visualizations/episode97_all_metrics.gif b/artifacts/results/metric_iter31_sample10_all_metrics_verify/episode97/visualizations/episode97_all_metrics.gif
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diff --git a/artifacts/results/metric_iter31_sample10_all_metrics_verify/selection.json b/artifacts/results/metric_iter31_sample10_all_metrics_verify/selection.json
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+{
+  "type": "sample_verification_bundle",
+  "source_result_root": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates_merged",
+  "selection_seed": 20260408,
+  "episode_indices": [
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+}
\ No newline at end of file