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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/audit/action_diversity.json

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+{
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/audit/expectations.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/audit/final_check.json

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+{"frozen_audit_rc": 0, "recompute_rc": 0, "frozen_audit": "True 13 13", "utc": "2026-10-13T20:48:51Z"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/audit/recompute_v1.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/entry_history/sample_entry.20261013T213649Z.pre_render.json

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+    "bytes": 4663,
+    "role": "other"
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+    "bytes": 2139,
+    "role": "other"
+   }
+  ],
+  "independent_audit": {
+   "file": {
+    "path": "samples/B2-001/a1/independent_audit_take_v1.json",
+    "sha256": "a30fcafce92776387a115b329c8e698c7505a162081184b49a01076398f88ba1",
+    "bytes": 42411
+   },
+   "passed": true,
+   "checks_passed": 23,
+   "checks_total": 23,
+   "recomputed_score": 12,
+   "recompute_scope": "fact_recompute_of_recorded_control_facts_not_native_execution"
+  },
+  "video": null
+ },
+ "contract": {
+  "frozen_manifest": {
+   "path": "frozen/frozen_manifest_v4.json",
+   "sha256": "745e7905ec28a7ab9cf05ea822ce2cbb37e22d48231307e59a00ed7fd0402c3d",
+   "bytes": 567
+  },
+  "contract_id": "airfryer_continuous_short_frozen_v1",
+  "process_rules_sha256": "523bff8879d6269f30f0694e07de42dab20c3d80afb646ed1855e65ca66893df",
+  "native_sha256": "3eb4da3bc40bd9f62b9d6e0657a8dc79b1268031085603ac0b9ee485e27e48e5",
+  "composite_sha256": "129db505759f26f2de9cc408e00245b2ad014e012ddee7371940b65dad35d9f4",
+  "rail_behavior_sha256": "f8395b7677c52f01fd53d838619b5e9a66161d4ac68fbf9cd4a97ecb85715ff5",
+  "rail_behavior": "release145_v2_persistent_instance_every_physics_step",
+  "rule_version": "arena.air_fryer.process.v2",
+  "phases": [
+   "2.1",
+   "2.3",
+   "2.5"
+  ],
+  "target_variant": "no_sugar",
+  "maximum_score": 12,
+  "phase_points": {
+   "2.1": 5,
+   "2.3": 3,
+   "2.5": 4
+  },
+  "time_limits_s": {
+   "2.1": 180,
+   "2.3": 60,
+   "2.5": 90
+  },
+  "stage_budgets_s": {
+   "2.1": [
+    9,
+    54,
+    16
+   ],
+   "2.3": [
+    7,
+    3,
+    10
+   ],
+   "2.5": [
+    19,
+    30
+   ]
+  },
+  "physics": {
+   "control_hz": 20,
+   "physics_hz": 240,
+   "substeps": 12,
+   "frozen_initial_settle": "1 s contiguous 240 Hz"
+  }
+ },
+ "result": {
+  "score": 12,
+  "maximum_score": 12,
+  "success": true,
+  "termination": "success",
+  "failure": null,
+  "phase_scores": {
+   "2.1": 5.0,
+   "2.3": 3.0,
+   "2.5": 4.0
+  },
+  "deductions": []
+ },
+ "execution": {
+  "machine": "204",
+  "mode": "frozen_standalone_native",
+  "gpu_index": 5,
+  "gpu_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+  "peak_vram_mib": 943,
+  "cpu_limit": 4.0,
+  "memory_limit_gb": 8.0,
+  "wall_s": 613.0,
+  "launcher": {
+   "path": "frozen/launcher_v3s9_run_native.sh",
+   "sha256": "c445b11cc6068a8fc64ddb809a5bba84312231b991137523c1e66d78c8992bf4",
+   "bytes": 11118
+  },
+  "command": "timeout -k 30 -s TERM 2400 env HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.config CUDA_VISIBLE_DEVICES=5 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1 /home/yuchen/openend_airfryer50_v1/env/py311/bin/python /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kit_entry.py /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/exts --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extscache --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extsDeprecated --/log/file=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/kit.log --exec /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/bootstrap_exec.py /mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+  "started_utc": "2026-10-13T20:38:29.307822+00:00",
+  "worker_id": "s9ops-b2",
+  "isaac_sim_version": "isaacsim 5.1.0.0 (5.1.0-rc.19+release.26219.9c81211b.gl)",
+  "kit_version": "107.3.3",
+  "physx_version": "omni.physx 107.3.26"
+ },
+ "host_registration": {
+  "status": "not_attempted",
+  "notes": "B2: per-sample host registration not run yet (s6 tool is bound to the B1 batch root)"
+ },
+ "review": {
+  "entry_id": "B2-001.a1",
+  "visual_status": "pending",
+  "reviewer": "awaiting_supervisor",
+  "limitations": [
+   "B2 (second batch): native execution ingested from S9's final full run /home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1 (from the initial state; launcher_v3s9 + frozen_v4 = frozen_v3 + native_entry_v2; checked and taken from S9's final-check copy, not re-executed; see ingest/ingest_manifest.json)",
+   "initial.usdc is not part of the 202 mirror (sha256/bytes in initial_usd_record.json)",
+   "No full-body geometric certificate in this run (see preflight)",
+   "No rendered video",
+   "Privileged recorded/adapted action diagnostic, not VLA evaluation"
+  ]
+ },
+ "counts": {
+  "generated": true,
+  "native_success": true,
+  "audit_pass": true,
+  "registered": false,
+  "visual_accepted": false
+ },
+ "b2": {
+  "batch": "B2",
+  "case_id": "B2-A026",
+  "plan_case": "R5L02s030A",
+  "layout": {
+   "layout_id": 2,
+   "layout_seed": 30,
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
+   "yaw_deg": -180,
+   "origin": [
+    1.8460678930781815,
+    0.15075641303459697
+   ],
+   "gap": 0.2656595447706058
+  },
+  "init_seed": 1126,
+  "slot": "outer",
+  "grasp_style_21": "ind_00000",
+  "grasp_style_25": "yaw_m90_right_006",
+  "strategy_21": "ind",
+  "strategy_25": "chest_pick1_yaw_m90_v1",
+  "hand_25": "right",
+  "stance_offset": {
+   "dx_m": 0.0218,
+   "dy_m": -0.048,
+   "dyaw_deg": 4.062,
+   "frame": "robot root (after group layer)"
+  },
+  "style_note": null,
+  "final_version": "candidate_v1",
+  "final_run_204": "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1",
+  "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A026_candidate_v1",
+  "candidate_sha256": "ac4d8f00ba82cad00171c4cbd545ce97d208f8caf8573f5e2727f8d04d4387d3",
+  "candidate_actions": 2062,
+  "unexecuted_candidate_tail": 60,
+  "physics_runs": 1,
+  "iterations": [
+   [
+    "candidate_v1",
+    12,
+    null
+   ]
+  ],
+  "contract_label": "frozen_v4 = frozen_v3 + native_entry_v2",
+  "gates": {
+   "run_complete": true,
+   "score_12_success": true,
+   "frozen_audit_13": true,
+   "recompute_v1": true,
+   "frozen_v4": true,
+   "native_entry_v2": true,
+   "launcher_v3s9": true,
+   "gpu_cooking_card": true,
+   "eula_record": true,
+   "source_hashes": true,
+   "inputs_bound": true,
+   "preflight_b2_pass": true,
+   "actions_equal_candidate_prefix": true,
+   "zero_reset_zero_object_writes": true,
+   "non_target_on_plate_all_phases": true,
+   "robot_self_contact_zero": true,
+   "initial_accepted": true,
+   "check_copy_equals_run": true
+  },
+  "non_target_supports_by_phase": {
+   "2.1": [
+    "plate"
+   ],
+   "2.3": [
+    "plate"
+   ],
+   "2.5": [
+    "plate"
+   ]
+  },
+  "robot_self_contact_pairs": 0,
+  "action_diversity": {
+   "file": "samples/B2-001/a1/audit/action_diversity.json",
+   "duplicate_trajectory": false,
+   "compared_with": [
+    "F004.a2",
+    "H000.a1"
+   ],
+   "action_full_sha256": "fe4b60c6dceba268dac32d34e7093e9dc434e7ba9e21aceaae6d845a1acfa530",
+   "measured_full_sha256": "685777bbfb68ec238d680ac8e4394c6677d7fc646744f68dd3e43af2e2c6e12e",
+   "action_phase_sha256": {
+    "2.1": "28ef2e90199ff2483499ef4230c1bc03946e879333b946798bf7cac66a47a67f",
+    "2.3": "9d6a648ddb8d1822cb2cc6a04b4d547d3f17ca8849108a624860927ea9a323c7",
+    "2.5": "045e1ffb3aa9a694fda9f7fb2bb28a52e91a1400ddee6d579323c5419cf33f59"
+   },
+   "identical_action_phase_with": {
+    "2.1": [],
+    "2.3": [],
+    "2.5": []
+   },
+   "max_joint_diff_vs_first_rad": {
+    "F004.a2": {
+     "2.1": 0.466927,
+     "2.3": 0.406284,
+     "2.5": 0.667572
+    },
+    "H000.a1": {
+     "2.1": 0.466927,
+     "2.3": 0.406284,
+     "2.5": 0.537378
+    }
+   },
+   "max_joint_diff_definition": "per phase, commanded targets, max |delta| over all joints on normalised time (201 points); step-aligned and measured values in the file"
+  },
+  "initial_usd": {
+   "file": "initial.usdc",
+   "sha256": "976126583c93cf5ee19c5e3bb1845fb302e583690001b57128555012a344806f",
+   "bytes": 57789942,
+   "note": "B2: initial.usdc is not mirrored to 202 and is deleted on 204 after the render (204 disk); it is re-creatable by re-running the same candidate/composition/scene from the initial state",
+   "regenerated": null,
+   "recorded_utc": "2026-10-13T21:36:44Z"
+  }
+ }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/entry_history/sample_entry.20261013T215352Z.pre_review.json

@@ -0,0 +1,786 @@
+{
+ "schema": "openend_airfryer50.sample_entry.v1",
+ "sample_id": "B2-001",
+ "attempt": 1,
+ "run_id": "B2-001.a1",
+ "episode_id": "b2-b2-001.a1-d304d8977905",
+ "task_type": {
+  "name": "fryer_continuous_short_frozen_v1",
+  "registration_sha256": "72aa6a1fff505dd224ef6693489c8e71409836cf2ea992905055e0feee3c9f0d",
+  "instance_id": "fryer_frozen"
+ },
+ "seed": 30,
+ "config": {
+  "canonical": {
+   "layout_id": 2,
+   "seed": 30,
+   "task_types": [
+    "fryer_continuous_short_frozen_v1"
+   ],
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
+   "placement": {
+    "origin": [
+     1.8460678930781815,
+     0.15075641303459697
+    ],
+    "front": [
+     -1,
+     0
+    ],
+    "yaw_deg": -180,
+    "gap": 0.2656595447706058,
+    "edge_point": [
+     1.3551126268523386,
+     0.15075641303459697
+    ],
+    "top": 0.92
+   },
+   "edge_gap_range_m": [
+    0.24,
+    0.38
+   ],
+   "target_variant": "no_sugar",
+   "robot_initial_stance": {
+    "robot_world": [
+     [
+      0.9782942050162711,
+      -0.2072207722010073,
+      0.0,
+      0.9783620949007403
+     ],
+     [
+      0.20722077220100732,
+      0.9782942050162713,
+      0.0,
+      0.3018187038669602
+     ],
+     [
+      0.0,
+      0.0,
+      1.0,
+      0.0
+     ],
+     [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ]
+    ]
+   },
+   "b2": {
+    "init_seed": 1126,
+    "slot": "outer",
+    "grasp_style_21": "ind_00000",
+    "grasp_style_25": "yaw_m90_right_006",
+    "stance_offset": {
+     "dx_m": 0.0218,
+     "dy_m": -0.048,
+     "dyaw_deg": 4.062,
+     "frame": "robot root (after group layer)"
+    },
+    "plan_case": "R5L02s030A"
+   }
+  },
+  "config_digest": "d304d8977905fbbb2c10e63e2007d3fa35c41c82dd477c52ae4a8d9755e11be0",
+  "sampler": {
+   "name": "ROOM/compose_workspaces.cjs + random-placement-geometry.js (B1 sampler plan) + s9/tools/compose_b2.py + b2_init.py (atomic 2.1 randomisation + stance offset)",
+   "files_sha256": {
+    "scene.usdc": "3933050401575ca89f11e51c01ac5c8d6bc6327221bd17bf989486227fbc568b",
+    "ID_02_LIVING_STRAIGHT.usdc": "0aa4dfc642b328d5328e68d97e256d1d0ce0730d7d86ab8067f7a547f33cb02e",
+    "composition.json": "6d91a8e3bc6bb303ef26591b42da2351b546403768e36a21a9a4d6528bb3dc2c",
+    "compose_b2.py": "60b3b5a2c66ae40e5a4958eded0a48834d6e7b2bffe200cd4caa67ebc2f4b3d3",
+    "workspace_plan.json(sha256 of JSON.stringify(plan))": "fbd71e94d0d8c847d6f689bc719879f828da12c4cfc23c44b9d07aa757c92e96"
+   }
+  }
+ },
+ "scene": {
+  "composition": {
+   "path": "samples/B2-001/a1/preflight/composition.json",
+   "sha256": "78848fc03f11f5a948e9175a9cf1ac2322ee391240be17fb8438c6925e337867",
+   "bytes": 30018
+  },
+  "scene_usd": {
+   "path": "samples/B2-001/a1/inputs/scene.usdc",
+   "sha256": "9ff09522e64db3c4a46f210fbb45d1d0d33bfc6aa7d76a7869236bd7f2e839c3",
+   "bytes": 35178338,
+   "origin": "202:/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/work/cases/B2-A026/scene/room.usdc"
+  },
+  "source_layout_sha256": "9ff09522e64db3c4a46f210fbb45d1d0d33bfc6aa7d76a7869236bd7f2e839c3",
+  "bindings": {
+   "fryer": "/World/RoomEpisode/Fryer/Asset",
+   "tray": "/World/RoomEpisode/Fryer/Asset/Centered/Tray",
+   "body": "/World/RoomEpisode/Fryer/Asset/Centered/Body",
+   "joint": "/World/RoomEpisode/Fryer/Asset/Centered/Joints/DrawerSlideOldParams",
+   "basket_floor": "/World/RoomEpisode/Fryer/Asset/Centered/Tray/Collision/BasketFloor",
+   "target": "/World/RoomEpisode/CakeYellow/Asset/Object",
+   "other": "/World/RoomEpisode/CakeWhite/Asset/Object",
+   "plate": "/World/RoomEpisode/FryerPlate/Asset",
+   "plate_support": "/World/RoomEpisode/FryerPlate/Asset/Support",
+   "counter": "/World/LargeDiningTable",
+   "floor": "/World/Background/Shell/Floor",
+   "robot": "/World/Robot"
+  },
+  "initial_acceptance": {
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+  "command": "timeout -k 30 -s TERM 2400 env HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.config CUDA_VISIBLE_DEVICES=5 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1 /home/yuchen/openend_airfryer50_v1/env/py311/bin/python /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kit_entry.py /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/exts --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extscache --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extsDeprecated --/log/file=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1/kit.log --exec /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/bootstrap_exec.py /mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+  "started_utc": "2026-10-13T20:38:29.307822+00:00",
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+  "physx_version": "omni.physx 107.3.26"
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+ "host_registration": {
+  "status": "not_attempted",
+  "notes": "B2: per-sample host registration not run yet (s6 tool is bound to the B1 batch root)"
+ },
+ "review": {
+  "entry_id": "B2-001.a1",
+  "visual_status": "pending",
+  "reviewer": "awaiting_supervisor",
+  "limitations": [
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+   "No full-body geometric certificate in this run (see preflight)",
+   "Privileged recorded/adapted action diagnostic, not VLA evaluation",
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+ }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/evidence/initial_acceptance.json

@@ -0,0 +1,158 @@
+{
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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/evidence/rail_release.json

@@ -0,0 +1,48 @@
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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/ingest/ingest_manifest.json

@@ -0,0 +1,290 @@
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+ "hardlinked_from_check": [
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+  "commands.jsonl",
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+  "initial.usdc",
+  "native_poses.npz",
+  "preflight/candidate.json",
+  "robot_contacts.jsonl",
+  "inputs/scene.usdc"
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+ "episode_id_in_run": "s9_B2-A026_candidate_v1",
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+ "note": "native execution = S9's final full run from the initial state (launcher_v3s9 + frozen_v4 + native_entry_v2); taken from S9's final-check copy, not re-executed; sources left untouched"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/preflight/adapt_result.json

@@ -0,0 +1,40 @@
+{
+ "case_id": "B2-A026",
+ "outcome": "success_12",
+ "iterations": [
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+ "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A026_candidate_v1"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/preflight/case_spec.json

@@ -0,0 +1 @@
+{"utc":"2026-10-13T20:30:27Z","case_id":"B2-A026","plan_case":"R5L02s030A","init_seed":1126,"slot":"outer","style21":"ind_00000","style25":"yaw_m90_right_006","stance_key":"B2-A026:1126"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/preflight/composition.json

@@ -0,0 +1,1053 @@
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/preflight/prescreen_b2.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/preflight/s9_case_row.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/render/launch_meta.json

@@ -0,0 +1,13 @@
+{
+ "started_utc": "2026-10-13T21:37:06.323278+00:00",
+ "host": "pyrogpucompute",
+ "gpu_index": 4,
+ "gpu_uuid_nvidia_smi": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+ "cuda_visible_devices": "4",
+ "vulkan_active_gpu": 4,
+ "sample_dir": "/home/yuchen/openend_airfryer50_v1/b2/samples/B2-001/a1",
+ "frames": "all",
+ "boundaries": "report",
+ "wall_timeout_s": 5400,
+ "command": "env HOME=/home/yuchen/openend_airfryer50_v1/b2/kh_render_slot2 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/b2/kh_render_slot2/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/b2/kh_render_slot2/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/b2/kh_render_slot2/.config CUDA_VISIBLE_DEVICES=4 OMNI_KIT_ACCEPT_EULA=YES PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 /home/yuchen/openend_airfryer50_v1/env/py311/bin/python /home/yuchen/openend_airfryer50_v1/render_v2/render_measured.py --sample-dir /home/yuchen/openend_airfryer50_v1/b2/samples/B2-001/a1 --stage /home/yuchen/openend_airfryer50_v1/runs/b2r_B2-001_20261013T213649Z/render_stage.usdc --out /home/yuchen/openend_airfryer50_v1/runs/b2r_B2-001_20261013T213649Z --frames all --boundaries report --active-gpu 4 --sample-label B2-001.a1 (B2) --video --extra-keyframes 0,508,1016,1194,1372,1687,2002 --phase-title 2.5=\u53d6\u51fa\u86cb\u7cd5 --/log/file=/home/yuchen/openend_airfryer50_v1/runs/b2r_B2-001_20261013T213649Z/kit.log --portable-root /home/yuchen/openend_airfryer50_v1/b2/kh_render_slot2/portable"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/render/render_info.json

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+{
+ "gpu_index": 4,
+ "gpu_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+ "peak_vram_mib": 4681,
+ "wall_s": 681.8
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/render/render_stage_deleted.json

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+{
+ "deleted_utc": "2026-10-13T21:48:11Z",
+ "sha256": "283c8afb822f372ef5d1c3ae4987e895c58237c7e4e2a37a0a8c0d297b43bccd",
+ "recreate": "render_v2/prepare_stage.py <attempt>/initial.usdc <dir>  (pure USD, deterministic remap)"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/render/torch_device_check.json

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+{"torch_device": "NVIDIA L40S", "torch_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a", "total_gb": 44.64}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/review/visual_review.json

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+{"schema":"airfryer50.visual_review.v2","run_id":"B2-001.a1","batch":"B2","reviewer":"supervisor (Claude, main session)","reviewed_utc":"2026-10-13T21:53Z",
+ "source":"b2/samples/B2-001/a1/render/review_sheet.png (7 keyframes)","video_frames_ffprobe":2003,
+ "checks":{"grasp_release":"pass: outer-slot grasp (ind_00000 / yaw_m90_right_006), cake carried to basket","cake_supported":"pass: cake flat in basket during 2.3","basket_closed":"pass",
+  "basket_detached":"pass","basket_on_counter":"pass: 1372","cake_out_whole_handle":"pass: final frame cake in right gripper (yaw-90), basket empty",
+  "non_target":"pass: white cake on plate","collision":"pass: none visible","frames":"pass: 2003 video frames",
+  "action_diversity":"vs F004.a2 max |dq| 2.1/2.3/2.5 = 0.466927 / 0.406284 / 0.667572 rad (ops ledger)"},
+ "verdict":"visual_accepted","limitations":"keyframe sheet + frame count; offline render of measured poses; layout 2 (dining_table)"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/audit/action_diversity.json

@@ -0,0 +1,169 @@
+{
+ "algorithm": "delivery/tools/action_diversity.py v1 hashes (enc/seq_hash) + s7/ref_diff.py per-phase joint differences",
+ "compared_with": [
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+  "2.5": "88e3d0552ff1678132299eef3e64b4ef0d4aa0df106f317a718ebdb24d244e7b"
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+  "2.5": "278178dbc656fc05f70aeb8bea624f1dc842e2cb062e36e04971e675a5cd2db7"
+ },
+ "identical_action_sequence_with": [],
+ "identical_measured_trajectory_with": [],
+ "identical_action_phase_with": {
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+  "2.3": [],
+  "2.5": []
+ },
+ "duplicate_trajectory": false,
+ "max_joint_diff_vs_first": {
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+   "commanded": {
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+     "argmax_joint_norm": "idx64_arm_r_joint4"
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+     "argmax_joint_norm": "idx64_arm_r_joint4"
+    },
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+     "argmax_joint_norm": "idx25_arm_l_joint5"
+    }
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+   "measured": {
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+     "argmax_joint_norm": "idx64_arm_r_joint4"
+    },
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+     "argmax_joint_norm": "idx64_arm_r_joint4"
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+     "argmax_joint_norm": "idx25_arm_l_joint5"
+    }
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+  },
+  "H000.a1": {
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+     "argmax_joint_norm": "idx64_arm_r_joint4"
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+  }
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+  }
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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/audit/expectations.json

@@ -0,0 +1 @@
+{}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/audit/final_check.json

@@ -0,0 +1 @@
+{"frozen_audit_rc": 0, "recompute_rc": 0, "frozen_audit": "True 13 13", "utc": "2026-10-13T20:59:21Z"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/audit/recompute_v1.json

@@ -0,0 +1,77 @@
+{
+ "schema": "openend50.s5.recompute.v1",
+ "attempt_dir": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A083_candidate_v1",
+ "checks": {
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+  "one_robot_reset": true,
+  "zero_resets_writes": true,
+  "dense_physics": true,
+  "dense_control": true,
+  "pose_frames": true,
+  "initial_accepted": true,
+  "sources_unchanged": true
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+ "independent": {
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+  "termination": "success",
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+  "command": "timeout -k 30 -s TERM 2400 env HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.config CUDA_VISIBLE_DEVICES=5 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1 /home/yuchen/openend_airfryer50_v1/env/py311/bin/python /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kit_entry.py /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/exts --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extscache --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extsDeprecated --/log/file=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/kit.log --exec /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/bootstrap_exec.py /mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+  "started_utc": "2026-10-13T20:49:06.087938+00:00",
+  "worker_id": "s9ops-b2",
+  "isaac_sim_version": "isaacsim 5.1.0.0 (5.1.0-rc.19+release.26219.9c81211b.gl)",
+  "kit_version": "107.3.3",
+  "physx_version": "omni.physx 107.3.26"
+ },
+ "host_registration": {
+  "status": "not_attempted",
+  "notes": "B2: per-sample host registration not run yet (s6 tool is bound to the B1 batch root)"
+ },
+ "review": {
+  "entry_id": "B2-002.a1",
+  "visual_status": "pending",
+  "reviewer": "awaiting_supervisor",
+  "limitations": [
+   "B2 (second batch): native execution ingested from S9's final full run /home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1 (from the initial state; launcher_v3s9 + frozen_v4 = frozen_v3 + native_entry_v2; checked and taken from S9's final-check copy, not re-executed; see ingest/ingest_manifest.json)",
+   "initial.usdc is not part of the 202 mirror (sha256/bytes in initial_usd_record.json)",
+   "No full-body geometric certificate in this run (see preflight)",
+   "No rendered video",
+   "Privileged recorded/adapted action diagnostic, not VLA evaluation"
+  ]
+ },
+ "counts": {
+  "generated": true,
+  "native_success": true,
+  "audit_pass": true,
+  "registered": false,
+  "visual_accepted": false
+ },
+ "b2": {
+  "batch": "B2",
+  "case_id": "B2-A083",
+  "plan_case": "R5L06s020A",
+  "layout": {
+   "layout_id": 6,
+   "layout_seed": 20,
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
+   "yaw_deg": -89.97923975967235,
+   "origin": [
+    2.2401027894780725,
+    0.14569163023439025
+   ],
+   "gap": 0.3738728720229119
+  },
+  "init_seed": 1106,
+  "slot": "outer",
+  "grasp_style_21": "ind_00000",
+  "grasp_style_25": "yaw_m90_right_006",
+  "strategy_21": "ind",
+  "strategy_25": "chest_pick1_yaw_m90_v1",
+  "hand_25": "right",
+  "stance_offset": {
+   "dx_m": -0.017,
+   "dy_m": -0.0305,
+   "dyaw_deg": 0.964,
+   "frame": "robot root (after group layer)"
+  },
+  "style_note": null,
+  "final_version": "candidate_v1",
+  "final_run_204": "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1",
+  "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A083_candidate_v1",
+  "candidate_sha256": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b",
+  "candidate_actions": 2062,
+  "unexecuted_candidate_tail": 67,
+  "physics_runs": 1,
+  "iterations": [
+   [
+    "candidate_v1",
+    12,
+    null
+   ]
+  ],
+  "contract_label": "frozen_v4 = frozen_v3 + native_entry_v2",
+  "gates": {
+   "run_complete": true,
+   "score_12_success": true,
+   "frozen_audit_13": true,
+   "recompute_v1": true,
+   "frozen_v4": true,
+   "native_entry_v2": true,
+   "launcher_v3s9": true,
+   "gpu_cooking_card": true,
+   "eula_record": true,
+   "source_hashes": true,
+   "inputs_bound": true,
+   "preflight_b2_pass": true,
+   "actions_equal_candidate_prefix": true,
+   "zero_reset_zero_object_writes": true,
+   "non_target_on_plate_all_phases": true,
+   "robot_self_contact_zero": true,
+   "initial_accepted": true,
+   "check_copy_equals_run": true
+  },
+  "non_target_supports_by_phase": {
+   "2.1": [
+    "plate"
+   ],
+   "2.3": [
+    "plate"
+   ],
+   "2.5": [
+    "plate"
+   ]
+  },
+  "robot_self_contact_pairs": 0,
+  "action_diversity": {
+   "file": "samples/B2-002/a1/audit/action_diversity.json",
+   "duplicate_trajectory": false,
+   "compared_with": [
+    "F004.a2",
+    "H000.a1"
+   ],
+   "action_full_sha256": "65df8aa7910ef6807672f819d70bae97bc583cbc49720c6e75d4307b37fa78ef",
+   "measured_full_sha256": "38215aad30602db18f180a88b51440cd4fdc11ccdf1c70cad2ecca86b8e73572",
+   "action_phase_sha256": {
+    "2.1": "d4522c7995a9ca28238725d9a7905fe625c366cd6b708ad8f4f003315b3e6fcc",
+    "2.3": "d936bdfea5de61cecec4310e615fa13d9bd2f6f3ec27b719afd6b5aa813a9722",
+    "2.5": "88e3d0552ff1678132299eef3e64b4ef0d4aa0df106f317a718ebdb24d244e7b"
+   },
+   "identical_action_phase_with": {
+    "2.1": [],
+    "2.3": [],
+    "2.5": []
+   },
+   "max_joint_diff_vs_first_rad": {
+    "F004.a2": {
+     "2.1": 0.812664,
+     "2.3": 0.752884,
+     "2.5": 0.539254
+    },
+    "H000.a1": {
+     "2.1": 0.812664,
+     "2.3": 0.752884,
+     "2.5": 0.570698
+    }
+   },
+   "max_joint_diff_definition": "per phase, commanded targets, max |delta| over all joints on normalised time (201 points); step-aligned and measured values in the file"
+  },
+  "initial_usd": {
+   "file": "initial.usdc",
+   "sha256": "9b464bedb47818a7711ad85884de4ad2fcf9f7c2d4bb7d360e7240d05b6f1018",
+   "bytes": 54700846,
+   "note": "B2: initial.usdc is not mirrored to 202 and is deleted on 204 after the render (204 disk); it is re-creatable by re-running the same candidate/composition/scene from the initial state",
+   "regenerated": null,
+   "recorded_utc": "2026-10-13T21:36:53Z"
+  }
+ }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/entry_history/sample_entry.20261013T215701Z.pre_review.json

@@ -0,0 +1,786 @@
+{
+ "schema": "openend_airfryer50.sample_entry.v1",
+ "sample_id": "B2-002",
+ "attempt": 1,
+ "run_id": "B2-002.a1",
+ "episode_id": "b2-b2-002.a1-aaefa5754bde",
+ "task_type": {
+  "name": "fryer_continuous_short_frozen_v1",
+  "registration_sha256": "72aa6a1fff505dd224ef6693489c8e71409836cf2ea992905055e0feee3c9f0d",
+  "instance_id": "fryer_frozen"
+ },
+ "seed": 20,
+ "config": {
+  "canonical": {
+   "layout_id": 6,
+   "seed": 20,
+   "task_types": [
+    "fryer_continuous_short_frozen_v1"
+   ],
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
+   "placement": {
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+     2.2401027894780725,
+     0.14569163023439025
+    ],
+    "front": [
+     0.0003623345392945013,
+     -0.9999999343568388
+    ],
+    "yaw_deg": -89.97923975967235,
+    "gap": 0.3738728720229119,
+    "edge_point": [
+     2.24031988895435,
+     -0.4534769239124381
+    ],
+    "top": 0.92
+   },
+   "edge_gap_range_m": [
+    0.24,
+    0.38
+   ],
+   "target_variant": "no_sugar",
+   "robot_initial_stance": {
+    "robot_world": [
+     [
+      -0.18060643644287025,
+      -0.9835554458775609,
+      0.0,
+      2.114844888237104
+     ],
+     [
+      0.9835554458775607,
+      -0.18060643644287022,
+      0.0,
+      -0.7755818320039696
+     ],
+     [
+      0.0,
+      0.0,
+      1.0,
+      0.0
+     ],
+     [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ]
+    ]
+   },
+   "b2": {
+    "init_seed": 1106,
+    "slot": "outer",
+    "grasp_style_21": "ind_00000",
+    "grasp_style_25": "yaw_m90_right_006",
+    "stance_offset": {
+     "dx_m": -0.017,
+     "dy_m": -0.0305,
+     "dyaw_deg": 0.964,
+     "frame": "robot root (after group layer)"
+    },
+    "plan_case": "R5L06s020A"
+   }
+  },
+  "config_digest": "aaefa5754bdedab6980ffcfccd0c22306b653b681a7c8789997b2fb782c66311",
+  "sampler": {
+   "name": "ROOM/compose_workspaces.cjs + random-placement-geometry.js (B1 sampler plan) + s9/tools/compose_b2.py + b2_init.py (atomic 2.1 randomisation + stance offset)",
+   "files_sha256": {
+    "scene.usdc": "3933050401575ca89f11e51c01ac5c8d6bc6327221bd17bf989486227fbc568b",
+    "ID_06_LIVING_STRAIGHT.usdc": "a81d02b4b67fc2d755734f78c07cd8bdc2033670e22db0c984805a3dcb8d848f",
+    "composition.json": "6d91a8e3bc6bb303ef26591b42da2351b546403768e36a21a9a4d6528bb3dc2c",
+    "compose_b2.py": "60b3b5a2c66ae40e5a4958eded0a48834d6e7b2bffe200cd4caa67ebc2f4b3d3",
+    "workspace_plan.json(sha256 of JSON.stringify(plan))": "62df4b8a33e26aa507200a9bb4248311c0391bcad7cf4b205f0178e6fdde589b"
+   }
+  }
+ },
+ "scene": {
+  "composition": {
+   "path": "samples/B2-002/a1/preflight/composition.json",
+   "sha256": "cf4af03e522266ac682b35efd56320cc701cb9bad949c501f8ad1118720e4208",
+   "bytes": 30154
+  },
+  "scene_usd": {
+   "path": "samples/B2-002/a1/inputs/scene.usdc",
+   "sha256": "3f473143586b898febc58158b28aeac4f52112f308b47bc4d10988fbf9009723",
+   "bytes": 35178300,
+   "origin": "202:/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/work/cases/B2-A083/scene/room.usdc"
+  },
+  "source_layout_sha256": "3f473143586b898febc58158b28aeac4f52112f308b47bc4d10988fbf9009723",
+  "bindings": {
+   "fryer": "/World/RoomEpisode/Fryer/Asset",
+   "tray": "/World/RoomEpisode/Fryer/Asset/Centered/Tray",
+   "body": "/World/RoomEpisode/Fryer/Asset/Centered/Body",
+   "joint": "/World/RoomEpisode/Fryer/Asset/Centered/Joints/DrawerSlideOldParams",
+   "basket_floor": "/World/RoomEpisode/Fryer/Asset/Centered/Tray/Collision/BasketFloor",
+   "target": "/World/RoomEpisode/CakeYellow/Asset/Object",
+   "other": "/World/RoomEpisode/CakeWhite/Asset/Object",
+   "plate": "/World/RoomEpisode/FryerPlate/Asset",
+   "plate_support": "/World/RoomEpisode/FryerPlate/Asset/Support",
+   "counter": "/World/LargeDiningTable",
+   "floor": "/World/Background/Shell/Floor",
+   "robot": "/World/Robot"
+  },
+  "initial_acceptance": {
+   "file": {
+    "path": "samples/B2-002/a1/evidence/initial_acceptance.json",
+    "sha256": "fb88f681d7857c06f1c2168d8e89058625553e5665f6d615a08e1327751949ba",
+    "bytes": 3966
+   },
+   "accepted": true,
+   "settle_hz": 240,
+   "settle_s": 1.0,
+   "host_settle": null
+  }
+ },
+ "trajectory": {
+  "actions": {
+   "path": "samples/B2-002/a1/commands.jsonl",
+   "sha256": "c3dddfdec67c1a7edf8b0dc6c8b6b18f2e4cfee5e20a9ca14fb64805855f1279",
+   "bytes": 12001009
+  },
+  "version": "b2_actions_v1/B2-A083/candidate_v1",
+  "provenance": [
+   {
+    "role": "candidate",
+    "path": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A083/candidate_v1/candidate.json",
+    "sha256": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b"
+   },
+   {
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+    "path": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A083/candidate_v1/preflight_report.json",
+    "sha256": "786660e5e2079061bb72474afb3f9c111abcfd73971af5e991e648bdfad8d9aa"
+   },
+   {
+    "role": "preflight_report_this_attempt",
+    "path": "samples/B2-002/a1/preflight/preflight_report.json",
+    "sha256": "786660e5e2079061bb72474afb3f9c111abcfd73971af5e991e648bdfad8d9aa"
+   },
+   {
+    "role": "planner_source",
+    "path": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/continuous_001_v1.json",
+    "sha256": "764cba9d03d1a57ff21d5d2d83a481f80a69606ee58131f32ae2814e15b46d4e"
+   },
+   {
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+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/style_catalog_v1.json",
+    "sha256": "44a6feb1b361614f40f9d49da7fd01d1425d335b999de9df6defa69dffa516d5"
+   },
+   {
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+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/work/cases/B2-A083/scene/composition.json",
+    "sha256": "cf4af03e522266ac682b35efd56320cc701cb9bad949c501f8ad1118720e4208"
+   },
+   {
+    "role": "planner_source",
+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/work/cases/B2-A083/scene/room.usdc",
+    "sha256": "3f473143586b898febc58158b28aeac4f52112f308b47bc4d10988fbf9009723"
+   },
+   {
+    "role": "planner_source",
+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s9/tools/plan_b2.py",
+    "sha256": "7292e5b77357e2014acb73fde3fbacba4d66f6b46a39a880b0abf3db3d7833f8"
+   },
+   {
+    "role": "planner_source",
+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s3d/tools/s3d_lib.py",
+    "sha256": "113db0ad2bfd8d4fae8865444f8b60e1f5a59ad850ab8a52a205bddacc5f2cc1"
+   },
+   {
+    "role": "planner_source",
+    "path": "/home/lingjun/robot_agent_arena/openend_airfryer50_v1/s3/tools/s3a_lib.py",
+    "sha256": "afcb1ef9d0c4d0dc94e228af365e6cd156f1b59fea1ebe46c6c0808b47678790"
+   },
+   {
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+    "path": "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/resources/source_episodes/2.1/ruleyellowind-00000/episode.json",
+    "sha256": "347d23e42719a540fd5640f1cded9a7ef42163e4ed812c35952c460c1086a083"
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+   {
+    "role": "planner_source",
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+    "sha256": "9b30a219a2544e26f84ee0deda01b9c4a05a93739146ac4e0fa55a8443ac208c"
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+  "executed_control_steps": 1995,
+  "control_hz": 20,
+  "physics_hz": 240,
+  "substeps": 12,
+  "phase_boundaries": {
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+   "success": 1995
+  },
+  "keyframes": [
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+  "object_velocity_writes": 0,
+  "attachments_or_welds": 0,
+  "unexecuted_tail_appended": false,
+  "clamped_or_modified_actions": 0
+ },
+ "evidence": {
+  "files": [
+   {
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+  "rule_version": "arena.air_fryer.process.v2",
+  "phases": [
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+   "2.3",
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+   "physics_hz": 240,
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+ },
+ "execution": {
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+  "mode": "frozen_standalone_native",
+  "gpu_index": 5,
+  "gpu_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
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+  "memory_limit_gb": 8.0,
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+  "launcher": {
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+   "bytes": 11118
+  },
+  "command": "timeout -k 30 -s TERM 2400 env HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.config CUDA_VISIBLE_DEVICES=5 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1 /home/yuchen/openend_airfryer50_v1/env/py311/bin/python /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kit_entry.py /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/exts --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extscache --ext-folder /home/yuchen/openend_airfryer50_v1/env/py311/lib/python3.11/site-packages/isaacsim/extsDeprecated --/log/file=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1/kit.log --exec /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/bootstrap_exec.py /mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+  "started_utc": "2026-10-13T20:49:06.087938+00:00",
+  "worker_id": "s9ops-b2",
+  "isaac_sim_version": "isaacsim 5.1.0.0 (5.1.0-rc.19+release.26219.9c81211b.gl)",
+  "kit_version": "107.3.3",
+  "physx_version": "omni.physx 107.3.26"
+ },
+ "host_registration": {
+  "status": "not_attempted",
+  "notes": "B2: per-sample host registration not run yet (s6 tool is bound to the B1 batch root)"
+ },
+ "review": {
+  "entry_id": "B2-002.a1",
+  "visual_status": "pending",
+  "reviewer": "awaiting_supervisor",
+  "limitations": [
+   "B2 (second batch): native execution ingested from S9's final full run /home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1 (from the initial state; launcher_v3s9 + frozen_v4 = frozen_v3 + native_entry_v2; checked and taken from S9's final-check copy, not re-executed; see ingest/ingest_manifest.json)",
+   "initial.usdc is not part of the 202 mirror (sha256/bytes in initial_usd_record.json)",
+   "No full-body geometric certificate in this run (see preflight)",
+   "Privileged recorded/adapted action diagnostic, not VLA evaluation",
+   "offline render of the measured native poses (render_v2, not an online closed loop): 1996/1996 frames; render GPU 5 (GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5); review sheet render/review_sheet.png"
+  ],
+  "keyframe_images": [
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+  "registered": false,
+  "visual_accepted": false
+ },
+ "b2": {
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+  "case_id": "B2-A083",
+  "plan_case": "R5L06s020A",
+  "layout": {
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+   "layout_seed": 20,
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+  "grasp_style_21": "ind_00000",
+  "grasp_style_25": "yaw_m90_right_006",
+  "strategy_21": "ind",
+  "strategy_25": "chest_pick1_yaw_m90_v1",
+  "hand_25": "right",
+  "stance_offset": {
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+   "dy_m": -0.0305,
+   "dyaw_deg": 0.964,
+   "frame": "robot root (after group layer)"
+  },
+  "style_note": null,
+  "final_version": "candidate_v1",
+  "final_run_204": "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1",
+  "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A083_candidate_v1",
+  "candidate_sha256": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b",
+  "candidate_actions": 2062,
+  "unexecuted_candidate_tail": 67,
+  "physics_runs": 1,
+  "iterations": [
+   [
+    "candidate_v1",
+    12,
+    null
+   ]
+  ],
+  "contract_label": "frozen_v4 = frozen_v3 + native_entry_v2",
+  "gates": {
+   "run_complete": true,
+   "score_12_success": true,
+   "frozen_audit_13": true,
+   "recompute_v1": true,
+   "frozen_v4": true,
+   "native_entry_v2": true,
+   "launcher_v3s9": true,
+   "gpu_cooking_card": true,
+   "eula_record": true,
+   "source_hashes": true,
+   "inputs_bound": true,
+   "preflight_b2_pass": true,
+   "actions_equal_candidate_prefix": true,
+   "zero_reset_zero_object_writes": true,
+   "non_target_on_plate_all_phases": true,
+   "robot_self_contact_zero": true,
+   "initial_accepted": true,
+   "check_copy_equals_run": true
+  },
+  "non_target_supports_by_phase": {
+   "2.1": [
+    "plate"
+   ],
+   "2.3": [
+    "plate"
+   ],
+   "2.5": [
+    "plate"
+   ]
+  },
+  "robot_self_contact_pairs": 0,
+  "action_diversity": {
+   "file": "samples/B2-002/a1/audit/action_diversity.json",
+   "duplicate_trajectory": false,
+   "compared_with": [
+    "F004.a2",
+    "H000.a1"
+   ],
+   "action_full_sha256": "65df8aa7910ef6807672f819d70bae97bc583cbc49720c6e75d4307b37fa78ef",
+   "measured_full_sha256": "38215aad30602db18f180a88b51440cd4fdc11ccdf1c70cad2ecca86b8e73572",
+   "action_phase_sha256": {
+    "2.1": "d4522c7995a9ca28238725d9a7905fe625c366cd6b708ad8f4f003315b3e6fcc",
+    "2.3": "d936bdfea5de61cecec4310e615fa13d9bd2f6f3ec27b719afd6b5aa813a9722",
+    "2.5": "88e3d0552ff1678132299eef3e64b4ef0d4aa0df106f317a718ebdb24d244e7b"
+   },
+   "identical_action_phase_with": {
+    "2.1": [],
+    "2.3": [],
+    "2.5": []
+   },
+   "max_joint_diff_vs_first_rad": {
+    "F004.a2": {
+     "2.1": 0.812664,
+     "2.3": 0.752884,
+     "2.5": 0.539254
+    },
+    "H000.a1": {
+     "2.1": 0.812664,
+     "2.3": 0.752884,
+     "2.5": 0.570698
+    }
+   },
+   "max_joint_diff_definition": "per phase, commanded targets, max |delta| over all joints on normalised time (201 points); step-aligned and measured values in the file"
+  },
+  "initial_usd": {
+   "file": "initial.usdc",
+   "sha256": "9b464bedb47818a7711ad85884de4ad2fcf9f7c2d4bb7d360e7240d05b6f1018",
+   "bytes": 54700846,
+   "note": "B2: initial.usdc is not mirrored to 202 and is deleted on 204 after the render (204 disk); it is re-creatable by re-running the same candidate/composition/scene from the initial state",
+   "regenerated": null,
+   "recorded_utc": "2026-10-13T21:36:53Z"
+  },
+  "render": {
+   "gpu_index": 5,
+   "gpu_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+   "peak_vram_mib": 4553,
+   "wall_s": 681.7,
+   "review_sheet": "samples/B2-002/a1/render/review_sheet.png",
+   "phase_title_overrides": {
+    "2.5": "取出蛋糕"
+   }
+  }
+ }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/evidence/initial_acceptance.json

@@ -0,0 +1,158 @@
+{
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+    "rest": true,
+    "no_robot_contact": true,
+    "no_ground": true,
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+    "basket_empty": true,
+    "cakes_on_plate": true
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+        "contact_span_s": 0.0
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+      "/World/RoomEpisode/CakeYellow/Asset/Object:r": {
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+        "contact_span_s": 0.0
+      }
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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/evidence/rail_release.json

@@ -0,0 +1,48 @@
+{
+  "released": true,
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+      "mechanism": "stroke-triggered joint release; not geometry-only detachment"
+    }
+  ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/ingest/ingest_manifest.json

@@ -0,0 +1,290 @@
+{
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+ "case_id": "B2-A083",
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+ "ingested_utc": "2026-10-13T21:36:53Z",
+ "checks": {
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+    "termination": "success",
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+    "status": "continuous_diagnostic_terminated",
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+     "frozen_audit": "True 13 13",
+     "utc": "2026-10-13T20:59:21Z"
+    }
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+     "transitions_consistent": true,
+     "one_robot_reset": true,
+     "zero_resets_writes": true,
+     "dense_physics": true,
+     "dense_control": true,
+     "pose_frames": true,
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+  },
+  "frozen_v4": {
+   "passed": true,
+   "detail": {
+    "frozen": "v4",
+    "root": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root",
+    "manifest_sha256": "745e7905ec28a7ab9cf05ea822ce2cbb37e22d48231307e59a00ed7fd0402c3d"
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+   "passed": true,
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+   "passed": true,
+   "detail": "user accepted 204 Omniverse EULA (USER_DECISIONS.md 2026-10-08)"
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+     "candidate_version": "candidate_v1",
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+     "scene_source": "OE50_NE_SCENE_USD",
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+     [
+      "plate"
+     ]
+    ],
+    [
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+     [
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+     [
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+    ]
+   ]
+  },
+  "robot_self_contact_zero": {
+   "passed": true,
+   "detail": {
+    "self_pairs_in_all_robot_contacts": 0,
+    "contact_rows": 19716,
+    "frozen_audit_robot_self_contact_samples": 0
+   }
+  },
+  "initial_accepted": {
+   "passed": true,
+   "detail": true
+  },
+  "check_copy_equals_run": {
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+   "detail": {
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+  "audit_pathmap_misses.json": "91c73c075803f7415478fe097056c7f12d61c12a318910b9a4ecd80781db7e28",
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+  "faulthandler.txt": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
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+  "preflight/candidate.json": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b",
+  "report.json": "d21d84236f8e76bc45b5cb42f35f65ff15b1d89bfb392b7c171f391e8ddbae55",
+  "robot_contacts.jsonl": "d0f2d04248ee0eb777622da4e78dcb747794f3517b0fc4b7d74bd0cc065974cd",
+  "torch_device_check.json": "056c070ef4709a2e66379c4205cee7141aaed24220f7082be92bf88dc3eb7d2f"
+ },
+ "hardlinked_from_check": [
+  "all_robot_contacts.jsonl",
+  "commands.jsonl",
+  "evidence/control_facts.jsonl",
+  "evidence/physical_facts.jsonl",
+  "initial.usdc",
+  "native_poses.npz",
+  "preflight/candidate.json",
+  "robot_contacts.jsonl",
+  "inputs/scene.usdc"
+ ],
+ "episode_id_in_run": "s9_B2-A083_candidate_v1",
+ "episode_id_of_item": "b2-b2-002.a1-aaefa5754bde",
+ "note": "native execution = S9's final full run from the initial state (launcher_v3s9 + frozen_v4 + native_entry_v2); taken from S9's final-check copy, not re-executed; sources left untouched"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/preflight/adapt_result.json

@@ -0,0 +1,40 @@
+{
+ "case_id": "B2-A083",
+ "outcome": "success_12",
+ "iterations": [
+  {
+   "version": "candidate_v1",
+   "tag": "s9_B2-A083_candidate_v1",
+   "status": "continuous_diagnostic_terminated",
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+    "2.5": 4.0
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+   "changes": [
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+     "from_phase": "2.1",
+     "to_phase": "2.3"
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+     "from_phase": "2.3",
+     "to_phase": "2.5"
+    },
+    {
+     "after_actions": 1995,
+     "from_phase": "2.5",
+     "to_phase": "complete"
+    }
+   ],
+   "executed": 1995,
+   "candidate_sha256": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b"
+  }
+ ],
+ "final_version": "candidate_v1",
+ "final_run_204": "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1",
+ "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A083_candidate_v1"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/preflight/case_spec.json

@@ -0,0 +1 @@
+{"utc":"2026-10-13T20:41:11Z","case_id":"B2-A083","plan_case":"R5L06s020A","init_seed":1106,"slot":"outer","style21":"ind_00000","style25":"yaw_m90_right_006","stance_key":"B2-A083:1106"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/preflight/composition.json

@@ -0,0 +1,1053 @@
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/preflight/prescreen_b2.json

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