Add files using upload-large-folder tool

auxiliary/b2_canonical56/auxiliary/B2_CONVERSION_CONTRACT.json

@@ -0,0 +1,1041 @@
+{
+  "schema": "robotagentbench.b2_conversion_contract.v1",
+  "complete": true,
+  "passed": true,
+  "checked_utc": "2026-10-26T21:12:08.927507+00:00",
+  "dataset_written": false,
+  "aligned_arrays_written_only_to_owned_workdir": true,
+  "source_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+  "source_mapping_evidence": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/B2_CANONICAL_MAPPING_EVIDENCE.json",
+  "episodes": 56,
+  "frames": 112141,
+  "videos": 168,
+  "fps": 20,
+  "all56_preserved_no_quality_filter": true,
+  "cloth_excluded_and_unread": true,
+  "canonical_features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        22
+      ],
+      "names": [
+        "idx21_arm_l_joint1",
+        "idx22_arm_l_joint2",
+        "idx23_arm_l_joint3",
+        "idx24_arm_l_joint4",
+        "idx25_arm_l_joint5",
+        "idx26_arm_l_joint6",
+        "idx27_arm_l_joint7",
+        "idx61_arm_r_joint1",
+        "idx62_arm_r_joint2",
+        "idx63_arm_r_joint3",
+        "idx64_arm_r_joint4",
+        "idx65_arm_r_joint5",
+        "idx66_arm_r_joint6",
+        "idx67_arm_r_joint7",
+        "idx01_body_joint1",
+        "idx02_body_joint2",
+        "idx11_head_joint1",
+        "idx12_head_joint2",
+        "idx41_gripper_l_outer_joint1",
+        "idx81_gripper_r_outer_joint1",
+        "base_forward_m_s",
+        "base_yaw_rate_rad_s"
+      ],
+      "units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m/s",
+        "rad/s"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        23
+      ],
+      "names": [
+        "idx21_arm_l_joint1",
+        "idx22_arm_l_joint2",
+        "idx23_arm_l_joint3",
+        "idx24_arm_l_joint4",
+        "idx25_arm_l_joint5",
+        "idx26_arm_l_joint6",
+        "idx27_arm_l_joint7",
+        "idx61_arm_r_joint1",
+        "idx62_arm_r_joint2",
+        "idx63_arm_r_joint3",
+        "idx64_arm_r_joint4",
+        "idx65_arm_r_joint5",
+        "idx66_arm_r_joint6",
+        "idx67_arm_r_joint7",
+        "idx01_body_joint1",
+        "idx02_body_joint2",
+        "idx11_head_joint1",
+        "idx12_head_joint2",
+        "idx41_gripper_l_outer_joint1",
+        "idx81_gripper_r_outer_joint1",
+        "base_x_world_m",
+        "base_y_world_m",
+        "base_yaw_world_unwrapped_rad"
+      ],
+      "units": [
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "rad",
+        "m",
+        "m",
+        "rad"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  },
+  "npz_array_schema": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "timestamp": {
+      "dtype": "float64",
+      "shape": [
+        "N"
+      ]
+    },
+    "source_action20_float64": {
+      "dtype": "float64",
+      "shape": [
+        "N",
+        20
+      ]
+    },
+    "source_measured20_float64": {
+      "dtype": "float64",
+      "shape": [
+        "N",
+        20
+      ]
+    },
+    "source_native_base_pose_xyzw_float32": {
+      "dtype": "float32",
+      "shape": [
+        "N",
+        7
+      ]
+    },
+    "source_timestamp_s": {
+      "dtype": "float64",
+      "shape": [
+        "N"
+      ]
+    },
+    "source_video_frame_index": {
+      "dtype": "int64",
+      "shape": [
+        "N"
+      ]
+    },
+    "source_command_index": {
+      "dtype": "int64",
+      "shape": [
+        "N"
+      ]
+    },
+    "action_recorded_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "action_issued_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "action_derived_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "action_unknown_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "action_source_kind": {
+      "dtype": "uint8",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "state_recorded_scalar_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "state_observed_source_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "state_representation_derived_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "state_unknown_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "state_source_kind": {
+      "dtype": "uint8",
+      "shape": [
+        "N",
+        23
+      ]
+    },
+    "action_valid_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "action_constraint_derived_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        22
+      ]
+    },
+    "state_valid_mask": {
+      "dtype": "bool",
+      "shape": [
+        "N",
+        23
+      ]
+    }
+  },
+  "action_last_two": {
+    "kind": "constraint_derived",
+    "value": [
+      0.0,
+      0.0
+    ],
+    "units": [
+      "m/s",
+      "rad/s"
+    ],
+    "source_issued_mask": false,
+    "unknown_or_placeholder": false,
+    "reason": "World-fixed base_link original constraint, confirmed by all N+1 recorded native base poses being exactly constant in all56."
+  },
+  "mask_semantics": {
+    "action_issued_mask": "True first20: recorded 20Hz joint control targets (not per-physics-substep telemetry); false base2: no recorded navigation command.",
+    "action_recorded_mask": "True first20; false base2.",
+    "action_derived_mask": "False first20; true base2 fixed-root equivalent zero-motion constraint representation.",
+    "action_constraint_derived_mask": "Same as action_derived_mask for B2; kind is constraint_derived.",
+    "action_valid_mask": "All true: both original control targets and evidence-supported fixed-root representation are known. Does not imply physical/task success.",
+    "state_observed_source_mask": "All true: joint20 are same-run post-action measured readbacks, XY native measured world positions, yaw a representation of native observed quaternion.",
+    "state_recorded_scalar_mask": "True first22; false yaw because raw source recorded orientation as XYZW, not a separate yaw scalar.",
+    "state_representation_derived_mask": "Only yaw true; deterministic normalized quaternion-to-yaw + unwrap, without estimating missing motion.",
+    "state_valid_mask": "All true; source observation provenance retained, not a new success label.",
+    "action_unknown_mask/state_unknown_mask": "All false; no missing command is claimed recorded, fixed constraint is explicitly derived."
+  },
+  "source_kind_enums": {
+    "action": {
+      "1": "recorded_joint_control_target",
+      "2": "fixed_root_constraint_derived_zero"
+    },
+    "state": {
+      "1": "post_action_measured_joint_scalar",
+      "2": "post_action_native_world_position_scalar",
+      "3": "post_action_native_quaternion_to_yaw_representation"
+    }
+  },
+  "numeric_cast": "Canonical float32; original exact JSON float64 action20/measured20 retained in arrays and untouched source raw files.",
+  "row_alignment": {
+    "source_command_row": "i",
+    "source_native_pose_row": "i+1",
+    "source_video_frame": "i+1",
+    "source_timestamp_s": "(i+1)/20",
+    "canonical_timestamp_s": "i/20",
+    "canonical_frame_index": "i",
+    "canonical_row_count": "N unchanged; no synthetic initial measured20"
+  },
+  "video": {
+    "head": {
+      "source_frames": "N+1",
+      "canonical_frames": "N",
+      "fps": 20,
+      "source_frame_to_canonical": "source frame i+1 -> canonical frame i",
+      "source_canvas_wh": [
+        1280,
+        840
+      ],
+      "canonical_canvas_wh": [
+        1280,
+        800
+      ],
+      "removed_rows": [
+        800,
+        840
+      ],
+      "removed_region": "pure appended bottom text banner",
+      "image_content_transform": "decoded_source_rgb[i+1][0:H,0:W,:]",
+      "scale": false,
+      "actual_camera_fov_crop": false,
+      "suggested_lossless_encoder": "libx264rgb CRF0; preserve source decoded RGB exactly",
+      "original_n_plus_one_mp4_retained_unchanged": true
+    },
+    "left": {
+      "source_frames": "N+1",
+      "canonical_frames": "N",
+      "fps": 20,
+      "source_frame_to_canonical": "source frame i+1 -> canonical frame i",
+      "source_canvas_wh": [
+        848,
+        520
+      ],
+      "canonical_canvas_wh": [
+        848,
+        480
+      ],
+      "removed_rows": [
+        480,
+        520
+      ],
+      "removed_region": "pure appended bottom text banner",
+      "image_content_transform": "decoded_source_rgb[i+1][0:H,0:W,:]",
+      "scale": false,
+      "actual_camera_fov_crop": false,
+      "suggested_lossless_encoder": "libx264rgb CRF0; preserve source decoded RGB exactly",
+      "original_n_plus_one_mp4_retained_unchanged": true
+    },
+    "right": {
+      "source_frames": "N+1",
+      "canonical_frames": "N",
+      "fps": 20,
+      "source_frame_to_canonical": "source frame i+1 -> canonical frame i",
+      "source_canvas_wh": [
+        848,
+        520
+      ],
+      "canonical_canvas_wh": [
+        848,
+        480
+      ],
+      "removed_rows": [
+        480,
+        520
+      ],
+      "removed_region": "pure appended bottom text banner",
+      "image_content_transform": "decoded_source_rgb[i+1][0:H,0:W,:]",
+      "scale": false,
+      "actual_camera_fov_crop": false,
+      "suggested_lossless_encoder": "libx264rgb CRF0; preserve source decoded RGB exactly",
+      "original_n_plus_one_mp4_retained_unchanged": true
+    }
+  },
+  "banner_generation_evidence": {
+    "original_source": "l40s-204:/home/yuchen/openend_airfryer50_v1/render_v2/render_measured.py",
+    "owned_copy": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/source_code/render_measured_original204.py",
+    "function_first_line": 262,
+    "function_last_line": 266,
+    "labeled_function_source": "def labeled(frame, c, i):\n        h, w = frame.shape[:2]\n        canvas = Image.new('RGB', (w, h + 40), (16, 16, 16)); canvas.paste(Image.fromarray(frame), (0, 0))\n        ImageDraw.Draw(canvas).text((8, h + 8), f'实测位姿离线渲染 offline/measured poses · {c} · frame {i} t={i/a.fps:.2f}s', font=font_s, fill=(255, 210, 80))\n        return np.asarray(canvas)",
+    "encoder_input_statement": "W, H = sizes[c]; procs[c] = ffmpeg(c, W, H + 40)",
+    "camera_image_is_pasted_at_xy": [
+      0,
+      0
+    ],
+    "added_region": "bottom40 text-only; no real field of view removed",
+    "source_code_readback": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/SOURCE_CODE_READBACK.json"
+  },
+  "independent_video_QA_requirement": "For all168 output videos require N frames/20Hz/full decode and original geometry. At minimum first/middle/last canonical RGB[i] must exactly equal decoded untouched original RGB[i+1][:H,:W,:]; all original N+1 videos retained unchanged in auxiliary.",
+  "records": [
+    {
+      "episode_index": 0,
+      "source_id": "airfryer_B2_original202_native20:B2-001:a1",
+      "frames": 2002,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000000.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000000",
+      "source_original_video_frames": 2003,
+      "canonical_video_frames": 2002,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 1,
+      "source_id": "airfryer_B2_original202_native20:B2-002:a1",
+      "frames": 1995,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000001.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000001",
+      "source_original_video_frames": 1996,
+      "canonical_video_frames": 1995,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 2,
+      "source_id": "airfryer_B2_original202_native20:B2-003:a1",
+      "frames": 2008,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000002.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000002",
+      "source_original_video_frames": 2009,
+      "canonical_video_frames": 2008,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 3,
+      "source_id": "airfryer_B2_original202_native20:B2-004:a1",
+      "frames": 2002,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000003.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000003",
+      "source_original_video_frames": 2003,
+      "canonical_video_frames": 2002,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 4,
+      "source_id": "airfryer_B2_original202_native20:B2-005:a1",
+      "frames": 2004,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000004.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000004",
+      "source_original_video_frames": 2005,
+      "canonical_video_frames": 2004,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 5,
+      "source_id": "airfryer_B2_original202_native20:B2-006:a1",
+      "frames": 2004,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000005.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000005",
+      "source_original_video_frames": 2005,
+      "canonical_video_frames": 2004,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 6,
+      "source_id": "airfryer_B2_original202_native20:B2-007:a1",
+      "frames": 2008,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000006.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000006",
+      "source_original_video_frames": 2009,
+      "canonical_video_frames": 2008,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 7,
+      "source_id": "airfryer_B2_original202_native20:B2-008:a1",
+      "frames": 1997,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000007.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000007",
+      "source_original_video_frames": 1998,
+      "canonical_video_frames": 1997,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 8,
+      "source_id": "airfryer_B2_original202_native20:B2-009:a1",
+      "frames": 2004,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000008.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000008",
+      "source_original_video_frames": 2005,
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+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
+      "episode_index": 54,
+      "source_id": "airfryer_B2_original202_native20:B2-G02:a1",
+      "frames": 2008,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000054.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000054",
+      "source_original_video_frames": 2009,
+      "canonical_video_frames": 2008,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    },
+    {
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+      "source_id": "airfryer_B2_original202_native20:B2-G03:a1",
+      "frames": 2002,
+      "aligned_arrays": "/workspace/alienware/datasets/robotagentbench-open-20261025/unify_action22_state23_20261026/b2/aligned_arrays/episode_000055.npz",
+      "source_native_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset",
+      "source_raw_root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_portable_package_20261026/dataset/collections/airfryer_B2_native20/dataset/auxiliary/source_raw/episode_000055",
+      "source_original_video_frames": 2003,
+      "canonical_video_frames": 2002,
+      "original_quality_and_owner_fields": "Preserve unchanged from source episode_provenance and source raw records"
+    }
+  ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/README.txt

@@ -0,0 +1,7 @@
+Air fryer second batch B2, independent native20 LeRobot collection.
+
+Actions are original 20 named joint targets; observation.state is original measured20 after each control interval. Native base/link poses and all staged original numeric/evidence files are preserved. No issued base velocity or initial measured joint vector is fabricated.
+
+Row i timestamp=(i+1)/20 references original full-video frame i+1. Original video frame0 is an uncommanded initial observation and remains present in the unchanged N+1-frame video and native NPZ. source.video_frame_index records this offset explicitly. Native target and measured values keep float64 JSON precision; native link/base poses keep float32. Original 40px video information strips remain unchanged.
+
+B2 is retained separately from the unchanged B1 training baseline. Direct float32 named-joint action/measured comparison against all50 B1 episodes and within B2 prevents duplicate counting. Source diagnostic, approval, and registration labels remain original annotations; no new physical qualification is added. Semantic workflow instruction comes from the delivered phase task definitions, not a claimed recovered utterance.

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/audit_pathmap_misses.json

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+{
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+   "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A026_candidate_v1"
+  ],
+  [
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+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"
+  ],
+  [
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+  ],
+  [
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+  ],
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+  ],
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+  ]
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+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/facts.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/composite.cpython-311.pyc"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/bootstrap_meta.json

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+{
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+ "target_204": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "argv": [],
+ "cuda_visible_devices": "5",
+ "pid": 3896042,
+ "python": "3.11.16 (main, Sep  2 2026, 23:39:52) [GCC 15.3.0]"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/entry_inputs.json

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+{
+ "mode": "full",
+ "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/candidate_v1/candidate.json",
+ "candidate_sha256": "ac4d8f00ba82cad00171c4cbd545ce97d208f8caf8573f5e2727f8d04d4387d3",
+ "candidate_version": "candidate_v1",
+ "candidate_schema": "airfryer50.b2.candidate.v1",
+ "composition": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/scene/composition.json",
+ "composition_sha256": "78848fc03f11f5a948e9175a9cf1ac2322ee391240be17fb8438c6925e337867",
+ "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/scene/room.usdc",
+ "scene_source": "OE50_NE_SCENE_USD",
+ "queue_item": null,
+ "episode_id": "s9_B2-A026_candidate_v1",
+ "candidate_actions": 2062
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/exit.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/gpu_usage.json

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+  "    \"shared_program_data\": \"/usr/share/NVIDIA Corporation/kit\",",
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+  "2026-10-13T20:38:29Z [142ms] [Info] [carb] Registered plugin: omni.gpucompute-cuda.plugin (interfaces: [omni::gpucompute::GpuCompute v0.3]) (impl: omni.gpucompute-cuda.plugin)",
+  "omni.physx handle on CUDA lib is 0x5a4f051c1d50",
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+  "2026-10-13T20:38:33Z [3,635ms] [Info] [carb] Initializing plugin: carb.cudainterop.plugin (interfaces: [carb::cudainterop::CudaInterop v0.17]) (impl: carb.cudainterop.plugin)",
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+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
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+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:38:33Z [4,271ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
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+  "CUDA Version                                           : 13.0",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-bc363a3d-dcad-0424-5277-fb911c6be1b8",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-ab8d2b3e-f71b-5b1a-5fcc-f865f4806c32",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-06fa77e7-9748-1c28-37cf-7d66849d1a07",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-531ca09c-b071-4122-9c83-a22812c0ed96",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-380882d5-7b4a-e96b-4fff-7a48269c047a"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/independent_audit_take_v1.json

@@ -0,0 +1,2702 @@
+{
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+    "dense_control": true,
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+  "physical_substeps": 24264,
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+  "scope": "Continuous physical diagnostic; audit pass verifies evidence, NOT video or VLA acceptance",
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+        1906,
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+        1928,
+        1929,
+        1930,
+        1931,
+        1932,
+        1933,
+        1934,
+        1935,
+        1936,
+        1937,
+        1938,
+        1939,
+        1940,
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+        1949,
+        1950,
+        1951,
+        1952,
+        1953,
+        1954,
+        1955,
+        1956,
+        1957,
+        1958,
+        1959,
+        1960,
+        1961,
+        1962,
+        1963,
+        1964,
+        1965,
+        1966,
+        1967,
+        1968,
+        1969,
+        1970,
+        1971,
+        1972,
+        1973,
+        1974,
+        1975,
+        1976,
+        1977,
+        1978,
+        1979,
+        1980,
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+        1985,
+        1986,
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+        1988,
+        1989,
+        1990,
+        1991,
+        1992,
+        1993,
+        1994,
+        1995,
+        1996,
+        1997,
+        1998,
+        1999,
+        2000,
+        2001,
+        2002
+      ],
+      "ground_contact": []
+    },
+    "other": {
+      "grasped": [],
+      "pads_bilateral": [],
+      "robot_contact": [],
+      "ground_contact": []
+    }
+  }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/initial_usd_record.json

@@ -0,0 +1,8 @@
+{
+ "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/launch_meta.json

@@ -0,0 +1,28 @@
+{
+ "started_utc": "2026-10-13T20:38:29.307822+00:00",
+ "host": "pyrogpucompute",
+ "launcher_version": "v3",
+ "gpu_index": "5",
+ "gpu_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+ "gpu_gate": "1:util=0,free=45710 2:util=0,free=45710 3:util=0,free=45710",
+ "cuda_visible_devices": "5",
+ "frozen": "v4",
+ "root": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root",
+ "physics_mode": "cpu_dynamics_gpu_cooking_visible",
+ "kit": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit",
+ "script": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "launcher": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9",
+ "kit_home": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1",
+ "cache_dir": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A026_candidate_v1/.cache",
+ "unit": "arena-s9_B2-A026_candidate_v1-3895769.scope",
+ "omni_kit_accept_eula_env": "YES",
+ "graphics_icd_hidden": "",
+ "eula_basis": "user accepted 204 Omniverse EULA (USER_DECISIONS.md 2026-10-08)",
+ "cpus": 4,
+ "mem": "8G",
+ "wall_timeout_s": 2400,
+ "kill_grace_s": 30,
+ "ext_folders": "--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",
+ "systemd_scope": "systemd-run --user --scope --quiet --collect -p CPUQuota=400% -p MemoryMax=8G -p MemorySwapMax=0 --unit arena-s9_B2-A026_candidate_v1-3895769",
+ "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"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/pathmap.json

@@ -0,0 +1 @@
+[["/home/lingjun/robot_agent_arena/api-protocol","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"],["/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"],["/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"],["/mnt/agent-bench-data/lingjun","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"],["/pilot","/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1"]]

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/pathmap_misses.json

@@ -0,0 +1,57 @@
+{
+ "map": [
+  [
+   "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/api-protocol",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"
+  ],
+  [
+   "/mnt/agent-bench-data/lingjun",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"
+  ],
+  [
+   "/pilot",
+   "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A026_candidate_v1"
+  ]
+ ],
+ "missing_mapped_file_opens": [
+  "/home/lingjun/robot_agent_arena/api-protocol/all_assets/air_fryer/behaviors/__pycache__/rail_release145.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/bimanual.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/contact_identity.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/physics_defaults.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/physics_rate.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/policy_contract.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/policy_execution.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/robot_initialization.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/robot_profiles.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/task_runtime.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/facts.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/isaac_evidence.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/specs.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/composite.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/native.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/tools/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/tools/__pycache__/convert_trajectory.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/contact_stream.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/geometry.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/initial_state.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/physical_detection.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/targets.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1/__pycache__/coffee_hotwake_v1.cpython-311.pyc",
+  "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/__pycache__/audit_sources.cpython-311.pyc"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000000/report.json

@@ -0,0 +1,1089 @@
+{
+  "diagnostic_only": true,
+  "continuous_success": true,
+  "accepted_count": 0,
+  "object_pose_writes": 0,
+  "phase_resets": 0,
+  "robot_reset_count": 1,
+  "video_recorded": false,
+  "status": "continuous_diagnostic_terminated",
+  "entry_version": "native_entry_v2",
+  "inputs": {
+    "mode": "full",
+    "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/candidate_v1/candidate.json",
+    "candidate_sha256": "ac4d8f00ba82cad00171c4cbd545ce97d208f8caf8573f5e2727f8d04d4387d3",
+    "candidate_version": "candidate_v1",
+    "candidate_schema": "airfryer50.b2.candidate.v1",
+    "composition": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/scene/composition.json",
+    "composition_sha256": "78848fc03f11f5a948e9175a9cf1ac2322ee391240be17fb8438c6925e337867",
+    "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/scene/room.usdc",
+    "scene_source": "OE50_NE_SCENE_USD",
+    "queue_item": null,
+    "episode_id": "s9_B2-A026_candidate_v1",
+    "candidate_actions": 2062
+  },
+  "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/candidate_v1/candidate.json",
+  "prefix_handoff": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/candidate_v1/candidate.json",
+  "prefix_steps": 2062,
+  "prefix_semantics": "no handoff: prefix_handoff points at the candidate itself, so the frozen audit check exact_executed_prefix verifies executed actions == candidate[:executed]",
+  "limitations": [
+    "No full-body geometric certificate in this run (see preflight)",
+    "No rendered video",
+    "Privileged recorded/adapted action diagnostic, not VLA evaluation"
+  ],
+  "scene_open": {
+    "method": "anonymous_copy_with_mapped_sublayers",
+    "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A026/scene/room.usdc",
+    "scene_sha256": "9ff09522e64db3c4a46f210fbb45d1d0d33bfc6aa7d76a7869236bd7f2e839c3",
+    "sublayers": {
+      "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc": {
+        "resolved": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc",
+        "realPath": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_02_LIVING_STRAIGHT.usdc",
+        "sha256": "0aa4dfc642b328d5328e68d97e256d1d0ce0730d7d86ab8067f7a547f33cb02e",
+        "composition_pin": "0aa4dfc642b328d5328e68d97e256d1d0ce0730d7d86ab8067f7a547f33cb02e"
+      }
+    }
+  },
+  "stance_check": {
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+    "lift_reset_err_m": {
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+      "hold_targets": 0.0
+    },
+    "convention_lift_offset_m": -0.006319999999999992,
+    "tolerance": 1e-06,
+    "passed": true,
+    "gate_version": "native_entry_v2_b2",
+    "convention_deviation": {
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+      "z_m": 0.0,
+      "yaw_deg": -0.44625811453069547,
+      "tilt": 0.0
+    },
+    "stance_gate": {
+      "max_planar_m": 0.22140361065400285,
+      "max_yaw_deg": 10.000001,
+      "derivation": "stance |dx|,|dy| <= 0.05 + fryer |x|,|y| <= 0.05 + fryer yaw 5 deg x robot-fryer lever; yaw 5 + 5 (group layer moves both)"
+    },
+    "composition_robot_world_max_abs_err": 0.0
+  },
+  "initial_stance": {
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+        -0.2072207722010073,
+        0.0,
+        0.9783620949007403
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+      [
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+        0.0,
+        1.0
+      ]
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+    "world_from_source": [
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+        0.0,
+        -1.0240913162928649
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+        0.9801876222852294,
+        0.0,
+        0.6201971007180933
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+        0.0,
+        0.0,
+        0.0,
+        1.0
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+    "lift_action_offset_m": -0.006319999999999992,
+    "lift_axis_world": [
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+      0.0,
+      1.0
+    ],
+    "source": "candidate.initial_stance (checked against composition.robot_initial_world + B2 stance gate)"
+  },
+  "source_episode": {
+    "key": "2.1",
+    "episode": "ruleyellowind-00067",
+    "rows": 908
+  },
+  "paths": {
+    "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"
+  },
+  "reset": {
+    "robot_joint_state_writes": 1,
+    "object_pose_writes": 0,
+    "positions": {
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+      "idx62_arm_r_joint2": -0.5836668680981872,
+      "idx63_arm_r_joint3": -0.2986530395049872,
+      "idx64_arm_r_joint4": 0.9504849639317601,
+      "idx65_arm_r_joint5": -0.7073886692885647,
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+      "idx67_arm_r_joint7": 0.066896468133972,
+      "idx01_body_joint1": 0.3136498626995087,
+      "idx02_body_joint2": 0.26179805397987366,
+      "idx11_head_joint1": 0.0,
+      "idx12_head_joint2": 0.4363349676132202,
+      "idx41_gripper_l_outer_joint1": 0.7843981385231018,
+      "idx81_gripper_r_outer_joint1": 0.7843981385231018
+    },
+    "hold_targets": {
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+  "rail_behavior": "release145_v2_persistent_instance_every_physics_step",
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+  "phases": [
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+   "2.3",
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+  "time_limits_s": {
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+  "physics": {
+   "control_hz": 20,
+   "physics_hz": 240,
+   "substeps": 12,
+   "frozen_initial_settle": "1 s contiguous 240 Hz"
+  }
+ },
+ "result": {
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+  "maximum_score": 12,
+  "success": true,
+  "termination": "success",
+  "failure": null,
+  "phase_scores": {
+   "2.1": 5.0,
+   "2.3": 3.0,
+   "2.5": 4.0
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+ },
+ "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": "accepted",
+  "reviewer": "supervisor (Claude, main session)",
+  "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)",
+   "Privileged recorded/adapted action diagnostic, not VLA evaluation",
+   "offline render of the measured native poses (render_v2, not an online closed loop): 2003/2003 frames; render GPU 4 (GPU-380882d5-7b4a-e96b-4fff-7a48269c047a); review sheet render/review_sheet.png",
+   "visual review: visual_accepted by supervisor (Claude, main session) (review/visual_review.json, sha256 6bda53490dd83178a2fd6def01b3c4cea5319b4f54ebcf7e37aedb9ddf6a1769)"
+  ],
+  "keyframe_images": [
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+  "native_success": true,
+  "audit_pass": true,
+  "registered": false,
+  "visual_accepted": true
+ },
+ "b2": {
+  "batch": "B2",
+  "case_id": "B2-A026",
+  "plan_case": "R5L02s030A",
+  "layout": {
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+   "layout_seed": 30,
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
+   "yaw_deg": -180,
+   "origin": [
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+    0.15075641303459697
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+  "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"
+  },
+  "render": {
+   "gpu_index": 4,
+   "gpu_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+   "peak_vram_mib": 4681,
+   "wall_s": 681.8,
+   "review_sheet": "samples/B2-001/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_000000/torch_device_check.json

@@ -0,0 +1 @@
+{"torch_device": "NVIDIA L40S", "torch_uuid": "893d65d3-9fd8-4a2a-43f8-1060fe9716c5", "total_gb": 44.63775634765625}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/audit_pathmap_misses.json

@@ -0,0 +1,37 @@
+{
+ "map": [
+  [
+   "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/s9_check_B2-A083_candidate_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A083_candidate_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/api-protocol",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"
+  ],
+  [
+   "/mnt/agent-bench-data/lingjun",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"
+  ],
+  [
+   "/pilot",
+   "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1"
+  ]
+ ],
+ "missing_mapped_file_opens": [
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/facts.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/composite.cpython-311.pyc"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/bootstrap_meta.json

@@ -0,0 +1,8 @@
+{
+ "target": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "target_204": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "argv": [],
+ "cuda_visible_devices": "5",
+ "pid": 3937082,
+ "python": "3.11.16 (main, Sep  2 2026, 23:39:52) [GCC 15.3.0]"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/entry_inputs.json

@@ -0,0 +1,14 @@
+{
+ "mode": "full",
+ "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A083/candidate_v1/candidate.json",
+ "candidate_sha256": "b56ebd6fc92d09a9fb3ffab85194e867f4f3f012b8be7fd3a2e317104a1b1b8b",
+ "candidate_version": "candidate_v1",
+ "candidate_schema": "airfryer50.b2.candidate.v1",
+ "composition": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A083/scene/composition.json",
+ "composition_sha256": "cf4af03e522266ac682b35efd56320cc701cb9bad949c501f8ad1118720e4208",
+ "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A083/scene/room.usdc",
+ "scene_source": "OE50_NE_SCENE_USD",
+ "queue_item": null,
+ "episode_id": "s9_B2-A083_candidate_v1",
+ "candidate_actions": 2062
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/exit.json

@@ -0,0 +1 @@
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/gpu_usage.json

@@ -0,0 +1,80 @@
+{
+ "gpu_index": "5",
+ "gate_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+ "torch": {
+  "torch_device": "NVIDIA L40S",
+  "torch_uuid": "893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+  "total_gb": 44.63775634765625
+ },
+ "compute_apps_uuids_of_own_pids": [
+  "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5"
+ ],
+ "uuid_consistent": true,
+ "samples": 526,
+ "own_peak_mib": 943,
+ "own_mean_mib": 938.2,
+ "card_util_peak_pct": 9,
+ "card_util_mean_pct": 0.02,
+ "kit_log_gpu_lines": [
+  "2026-10-13T20:49:06Z [1ms] [Info] [omni.kit.app.plugin] Non-existent configs: [/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.nvidia-omniverse/config/privacy.toml, /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.gen.kit, /home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.local/share/ov/data/documents/Kit/shared/user.toml, /usr/share/NVIDIA Corp",
+  "    \"shared_program_data\": \"/usr/share/NVIDIA Corporation/kit\",",
+  "    \"app_program_data\": \"/usr/share/NVIDIA Corporation/kit/native_cpu\",",
+  "2026-10-13T20:49:06Z [132ms] [Info] [carb] Registered plugin: carb.cudainterop.plugin (interfaces: [carb::cudainterop::CudaInterop v0.17]) (impl: carb.cudainterop.plugin)",
+  "2026-10-13T20:49:06Z [144ms] [Info] [carb] Registered plugin: omni.gpucompute-cuda.plugin (interfaces: [omni::gpucompute::GpuCompute v0.3]) (impl: omni.gpucompute-cuda.plugin)",
+  "omni.physx handle on CUDA lib is 0x55ac011130c0",
+  "2026-10-13T20:49:09Z [3,501ms] [Info] [carb] Initializing plugin: omni.gpucompute-cuda.plugin (interfaces: [omni::gpucompute::GpuCompute v0.3]) (impl: omni.gpucompute-cuda.plugin)",
+  "2026-10-13T20:49:09Z [3,610ms] [Info] [carb] Initializing plugin: carb.cudainterop.plugin (interfaces: [carb::cudainterop::CudaInterop v0.17]) (impl: carb.cudainterop.plugin)",
+  "2026-10-13T20:49:09Z [3,611ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.",
+  "2026-10-13T20:49:09Z [3,611ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.",
+  "2026-10-13T20:49:09Z [3,611ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.",
+  "2026-10-13T20:49:09Z [3,628ms] [Error] [carb.cudainterop.plugin] Could not initialize NVML: return code 18 (NVML_ERROR_LIB_RM_VERSION_MISMATCH: RM detects a driver/library version mismatch.)",
+  "2026-10-13T20:49:09Z [3,638ms] [Error] [carb.cudainterop.plugin] Could not initialize NVML: return code 18 (NVML_ERROR_LIB_RM_VERSION_MISMATCH: RM detects a driver/library version mismatch.)",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
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+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:49:10Z [4,155ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/independent_audit_take_v1.json

@@ -0,0 +1,2705 @@
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+    "other": {
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+    }
+  }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/initial_usd_record.json

@@ -0,0 +1,8 @@
+{
+ "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/launch_meta.json

@@ -0,0 +1,28 @@
+{
+ "started_utc": "2026-10-13T20:49:06.087938+00:00",
+ "host": "pyrogpucompute",
+ "launcher_version": "v3",
+ "gpu_index": "5",
+ "gpu_uuid": "GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+ "gpu_gate": "1:util=0,free=45709 2:util=0,free=45709 3:util=0,free=45709",
+ "cuda_visible_devices": "5",
+ "frozen": "v4",
+ "root": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root",
+ "physics_mode": "cpu_dynamics_gpu_cooking_visible",
+ "kit": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit",
+ "script": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "launcher": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9",
+ "kit_home": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1",
+ "cache_dir": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A083_candidate_v1/.cache",
+ "unit": "arena-s9_B2-A083_candidate_v1-3936630.scope",
+ "omni_kit_accept_eula_env": "YES",
+ "graphics_icd_hidden": "",
+ "eula_basis": "user accepted 204 Omniverse EULA (USER_DECISIONS.md 2026-10-08)",
+ "cpus": 4,
+ "mem": "8G",
+ "wall_timeout_s": 2400,
+ "kill_grace_s": 30,
+ "ext_folders": "--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",
+ "systemd_scope": "systemd-run --user --scope --quiet --collect -p CPUQuota=400% -p MemoryMax=8G -p MemorySwapMax=0 --unit arena-s9_B2-A083_candidate_v1-3936630",
+ "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"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/pathmap.json

@@ -0,0 +1 @@
+[["/home/lingjun/robot_agent_arena/api-protocol","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"],["/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"],["/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"],["/mnt/agent-bench-data/lingjun","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"],["/pilot","/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A083_candidate_v1"]]

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/pathmap_misses.json

@@ -0,0 +1,57 @@
+{
+ "map": [
+  [
+   "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1",
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/report.json

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+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000001/sample_entry.json

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+{
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+ "run_id": "B2-002.a1",
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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": "accepted",
+  "reviewer": "supervisor (Claude, main session)",
+  "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",
+   "visual review: visual_accepted by supervisor (Claude, main session) (review/visual_review.json, sha256 c81f419e88d0386a2b582b7f301b4db5a133058962db461f224da41489be0f7c)"
+  ],
+  "keyframe_images": [
+   {
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+   {
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+   },
+   {
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+    "bytes": 24640
+   }
+  ]
+ },
+ "counts": {
+  "generated": true,
+  "native_success": true,
+  "audit_pass": true,
+  "registered": false,
+  "visual_accepted": true
+ },
+ "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"
+  },
+  "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/torch_device_check.json

@@ -0,0 +1 @@
+{"torch_device": "NVIDIA L40S", "torch_uuid": "893d65d3-9fd8-4a2a-43f8-1060fe9716c5", "total_gb": 44.63775634765625}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/audit_pathmap_misses.json

@@ -0,0 +1,37 @@
+{
+ "map": [
+  [
+   "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/s9_check_B2-A030_candidate_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A030_candidate_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/api-protocol",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"
+  ],
+  [
+   "/mnt/agent-bench-data/lingjun",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"
+  ],
+  [
+   "/pilot",
+   "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1"
+  ]
+ ],
+ "missing_mapped_file_opens": [
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/facts.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/composite.cpython-311.pyc"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/bootstrap_meta.json

@@ -0,0 +1,8 @@
+{
+ "target": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "target_204": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "argv": [],
+ "cuda_visible_devices": "4",
+ "pid": 3951640,
+ "python": "3.11.16 (main, Sep  2 2026, 23:39:52) [GCC 15.3.0]"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/entry_inputs.json

@@ -0,0 +1,14 @@
+{
+ "mode": "full",
+ "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/candidate_v1/candidate.json",
+ "candidate_sha256": "10a302dfe2bdd358f5fa5f174bfd746d9f41c7c3b129d714df274f529e5acb3e",
+ "candidate_version": "candidate_v1",
+ "candidate_schema": "airfryer50.b2.candidate.v1",
+ "composition": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/scene/composition.json",
+ "composition_sha256": "dbb769f7d4f22500165b7bb60acd8e5493bda405ad79a7d427cf274e3955dec5",
+ "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/scene/room.usdc",
+ "scene_source": "OE50_NE_SCENE_USD",
+ "queue_item": null,
+ "episode_id": "s9_B2-A030_candidate_v1",
+ "candidate_actions": 2062
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/exit.json

@@ -0,0 +1 @@
+{"exit_code": 0, "ended_utc": "2026-10-13T21:02:36Z", "elapsed_s": 596, "timed_out": false, "scope_reaped": false, "unit": "arena-s9_B2-A030_candidate_v1-3951161.scope"}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/gpu_samples.csv

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/gpu_usage.json

@@ -0,0 +1,80 @@
+{
+ "gpu_index": "4",
+ "gate_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+ "torch": {
+  "torch_device": "NVIDIA L40S",
+  "torch_uuid": "380882d5-7b4a-e96b-4fff-7a48269c047a",
+  "total_gb": 44.63775634765625
+ },
+ "compute_apps_uuids_of_own_pids": [
+  "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a"
+ ],
+ "uuid_consistent": true,
+ "samples": 514,
+ "own_peak_mib": 943,
+ "own_mean_mib": 937.1,
+ "card_util_peak_pct": 6,
+ "card_util_mean_pct": 0.01,
+ "kit_log_gpu_lines": [
+  "2026-10-13T20:52:40Z [1ms] [Info] [omni.kit.app.plugin] Non-existent configs: [/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.nvidia-omniverse/config/privacy.toml, /home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.gen.kit, /home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.local/share/ov/data/documents/Kit/shared/user.toml, /usr/share/NVIDIA Corp",
+  "    \"shared_program_data\": \"/usr/share/NVIDIA Corporation/kit\",",
+  "    \"app_program_data\": \"/usr/share/NVIDIA Corporation/kit/native_cpu\",",
+  "2026-10-13T20:52:40Z [110ms] [Info] [carb] Registered plugin: carb.cudainterop.plugin (interfaces: [carb::cudainterop::CudaInterop v0.17]) (impl: carb.cudainterop.plugin)",
+  "2026-10-13T20:52:40Z [126ms] [Info] [carb] Registered plugin: omni.gpucompute-cuda.plugin (interfaces: [omni::gpucompute::GpuCompute v0.3]) (impl: omni.gpucompute-cuda.plugin)",
+  "omni.physx handle on CUDA lib is 0x592c03f46120",
+  "2026-10-13T20:52:43Z [3,537ms] [Info] [carb] Initializing plugin: omni.gpucompute-cuda.plugin (interfaces: [omni::gpucompute::GpuCompute v0.3]) (impl: omni.gpucompute-cuda.plugin)",
+  "2026-10-13T20:52:43Z [3,675ms] [Info] [carb] Initializing plugin: carb.cudainterop.plugin (interfaces: [carb::cudainterop::CudaInterop v0.17]) (impl: carb.cudainterop.plugin)",
+  "2026-10-13T20:52:43Z [3,675ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.",
+  "2026-10-13T20:52:43Z [3,675ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.",
+  "2026-10-13T20:52:43Z [3,675ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.",
+  "2026-10-13T20:52:43Z [3,691ms] [Error] [carb.cudainterop.plugin] Could not initialize NVML: return code 18 (NVML_ERROR_LIB_RM_VERSION_MISMATCH: RM detects a driver/library version mismatch.)",
+  "2026-10-13T20:52:43Z [3,703ms] [Error] [carb.cudainterop.plugin] Could not initialize NVML: return code 18 (NVML_ERROR_LIB_RM_VERSION_MISMATCH: RM detects a driver/library version mismatch.)",
+  "CUDA Version                                           : 13.0",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-bc363a3d-dcad-0424-5277-fb911c6be1b8",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-ab8d2b3e-f71b-5b1a-5fcc-f865f4806c32",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-06fa77e7-9748-1c28-37cf-7d66849d1a07",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-531ca09c-b071-4122-9c83-a22812c0ed96",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-893d65d3-9fd8-4a2a-43f8-1060fe9716c5",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-0b09c217-1e5e-6eec-a82b-237d3e19e4f4",
+  "    Product Name                                       : NVIDIA L40S",
+  "    Product Brand                                      : NVIDIA",
+  "    GPU UUID                                           : GPU-1b51e7c0-2d3c-d052-28f4-8fe15cdb3ce0",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,391ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,392ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,393ms] [Info] [gpu.foundation.plugin] NVIDIA Aftermath Status: auto-enabled",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.",
+  "2026-10-13T20:52:44Z [4,393ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA L40S"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/independent_audit_take_v1.json

@@ -0,0 +1,2721 @@
+{
+  "checks": {
+    "initial_accepted": true,
+    "expected_physical_count": true,
+    "dense_physics": true,
+    "exact_control_count": true,
+    "dense_control": true,
+    "recomputed_scores": true,
+    "final_matches": true,
+    "opening_stage_awarded": true,
+    "source_files_unchanged": true,
+    "one_robot_reset": true,
+    "no_object_reset": true,
+    "success_claim_consistent": true,
+    "exact_executed_prefix": true
+  },
+  "passed": true,
+  "control_frames": 2009,
+  "physical_substeps": 24336,
+  "score": 12,
+  "max_opening_m": 0.33419988484584356,
+  "rail_released": true,
+  "scope": "Continuous physical diagnostic; audit pass verifies evidence, NOT video or VLA acceptance",
+  "sha256": {
+    "report.json": "d4d8c218d680916ae468e751e30182d89a2e087b6380aa7a07782fe3a3222a00",
+    "commands.jsonl": "f20662d877ec4fc42380390bea6dade646c694776c504f430a8b0a05a5a0e882",
+    "evidence/physical_facts.jsonl": "91c683bf515a6e7413e0521f6788bfc96aaf06a42835d900b51f7d10aa0e1bac",
+    "evidence/control_facts.jsonl": "4a4ab36a5a6dba53ef9e9a3268361d5cff2dd3caab088d96cb0f585171341e2c"
+  },
+  "comparison_method": "Exact JSON-value equality; normalize only tuple/list serialization, no numeric tolerance and no field exclusion",
+  "failure": null,
+  "robot_self_contact_samples": 0,
+  "first_robot_self_contacts": [],
+  "phase_results": [
+    {
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+      "key": "2.1",
+      "title": "\u9ec4\u8272\u86cb\u7cd5\u653e\u5165\u70b8\u7bee",
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+  }
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/initial_usd_record.json

@@ -0,0 +1,8 @@
+{
+ "file": "initial.usdc",
+ "sha256": "5d46d9eb45127b23742443afc88f2dbac70450b992152f5140e7083de35863e2",
+ "bytes": 54700834,
+ "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": "2026-10-13T21:37:02Z"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/launch_meta.json

@@ -0,0 +1,28 @@
+{
+ "started_utc": "2026-10-13T20:52:39.840240+00:00",
+ "host": "pyrogpucompute",
+ "launcher_version": "v3",
+ "gpu_index": "4",
+ "gpu_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+ "gpu_gate": "1:util=0,free=45709 2:util=0,free=45709 3:util=0,free=45709",
+ "cuda_visible_devices": "4",
+ "frozen": "v4",
+ "root": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root",
+ "physics_mode": "cpu_dynamics_gpu_cooking_visible",
+ "kit": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9/kits/native_cpu.kit",
+ "script": "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/native_entry_v2/native_entry_v2.py",
+ "launcher": "/home/yuchen/openend_airfryer50_v1/s9/launcher_v3s9",
+ "kit_home": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1",
+ "cache_dir": "/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.cache",
+ "unit": "arena-s9_B2-A030_candidate_v1-3951161.scope",
+ "omni_kit_accept_eula_env": "YES",
+ "graphics_icd_hidden": "",
+ "eula_basis": "user accepted 204 Omniverse EULA (USER_DECISIONS.md 2026-10-08)",
+ "cpus": 4,
+ "mem": "8G",
+ "wall_timeout_s": 2400,
+ "kill_grace_s": 30,
+ "ext_folders": "--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",
+ "systemd_scope": "systemd-run --user --scope --quiet --collect -p CPUQuota=400% -p MemoryMax=8G -p MemorySwapMax=0 --unit arena-s9_B2-A030_candidate_v1-3951161",
+ "command": "timeout -k 30 -s TERM 2400 env HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.config CUDA_VISIBLE_DEVICES=4 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_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-A030_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"
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/pathmap.json

@@ -0,0 +1 @@
+[["/home/lingjun/robot_agent_arena/api-protocol","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"],["/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"],["/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"],["/mnt/agent-bench-data/lingjun","/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"],["/pilot","/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1"]]

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/pathmap_misses.json

@@ -0,0 +1,57 @@
+{
+ "map": [
+  [
+   "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/airfryer_continuous_short_v1"
+  ],
+  [
+   "/home/lingjun/robot_agent_arena/api-protocol",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/home/lingjun/robot_agent_arena/api-protocol"
+  ],
+  [
+   "/mnt/agent-bench-data/lingjun",
+   "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun"
+  ],
+  [
+   "/pilot",
+   "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1"
+  ]
+ ],
+ "missing_mapped_file_opens": [
+  "/home/lingjun/robot_agent_arena/api-protocol/all_assets/air_fryer/behaviors/__pycache__/rail_release145.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/bimanual.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/contact_identity.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/physics_defaults.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/physics_rate.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/policy_contract.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/policy_execution.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/robot_initialization.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/robot_profiles.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/arena_api/__pycache__/task_runtime.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/facts.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/isaac_evidence.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/specs.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/composite.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/continuous_openended_v1/__pycache__/native.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/tools/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/tools/__pycache__/convert_trajectory.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/__init__.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/contact_stream.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/geometry.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/initial_state.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/physical_detection.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/shelf_pick/__pycache__/targets.cpython-311.pyc",
+  "/home/lingjun/robot_agent_arena/layout_task_activation_v1/task_scene_registration_v1/__pycache__/coffee_hotwake_v1.cpython-311.pyc",
+  "/mnt/agent-bench-data/lingjun/airfryer_continuous_short_v1/__pycache__/audit_sources.cpython-311.pyc"
+ ]
+}

auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000002/report.json

@@ -0,0 +1,1101 @@
+{
+  "diagnostic_only": true,
+  "continuous_success": true,
+  "accepted_count": 0,
+  "object_pose_writes": 0,
+  "phase_resets": 0,
+  "robot_reset_count": 1,
+  "video_recorded": false,
+  "status": "continuous_diagnostic_terminated",
+  "entry_version": "native_entry_v2",
+  "inputs": {
+    "mode": "full",
+    "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/candidate_v1/candidate.json",
+    "candidate_sha256": "10a302dfe2bdd358f5fa5f174bfd746d9f41c7c3b129d714df274f529e5acb3e",
+    "candidate_version": "candidate_v1",
+    "candidate_schema": "airfryer50.b2.candidate.v1",
+    "composition": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/scene/composition.json",
+    "composition_sha256": "dbb769f7d4f22500165b7bb60acd8e5493bda405ad79a7d427cf274e3955dec5",
+    "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/scene/room.usdc",
+    "scene_source": "OE50_NE_SCENE_USD",
+    "queue_item": null,
+    "episode_id": "s9_B2-A030_candidate_v1",
+    "candidate_actions": 2062
+  },
+  "candidate": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/candidate_v1/candidate.json",
+  "prefix_handoff": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/candidate_v1/candidate.json",
+  "prefix_steps": 2062,
+  "prefix_semantics": "no handoff: prefix_handoff points at the candidate itself, so the frozen audit check exact_executed_prefix verifies executed actions == candidate[:executed]",
+  "limitations": [
+    "No full-body geometric certificate in this run (see preflight)",
+    "No rendered video",
+    "Privileged recorded/adapted action diagnostic, not VLA evaluation"
+  ],
+  "scene_open": {
+    "method": "anonymous_copy_with_mapped_sublayers",
+    "scene_usd": "/home/yuchen/openend_airfryer50_v1/b2/cases/B2-A030/scene/room.usdc",
+    "scene_sha256": "0d49dbf1092660aee9af0d92e4a338f974e15dfa697aad4ad550833ec225ccd2",
+    "sublayers": {
+      "/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_06_LIVING_STRAIGHT.usdc": {
+        "resolved": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_06_LIVING_STRAIGHT.usdc",
+        "realPath": "/home/yuchen/openend_airfryer50_v1/s9/frozen_v4/root/mnt/agent-bench-data/lingjun/releases/living50-candidate-20260919/layouts/ID_06_LIVING_STRAIGHT.usdc",
+        "sha256": "a81d02b4b67fc2d755734f78c07cd8bdc2033670e22db0c984805a3dcb8d848f",
+        "composition_pin": "a81d02b4b67fc2d755734f78c07cd8bdc2033670e22db0c984805a3dcb8d848f"
+      }
+    }
+  },
+  "stance_check": {
+    "robot_world_max_abs_err": 0.02318063923549174,
+    "lift_reset_err_m": {
+      "positions": 0.0,
+      "hold_targets": 0.0
+    },
+    "convention_lift_offset_m": -0.006319999999999992,
+    "tolerance": 1e-06,
+    "passed": true,
+    "gate_version": "native_entry_v2_b2",
+    "convention_deviation": {
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+      "x_m": -0.006688410830630431,
+      "y_m": -0.022404608758256367,
+      "z_m": 0.0,
+      "yaw_deg": 1.191252893461269,
+      "tilt": 0.0
+    },
+    "stance_gate": {
+      "max_planar_m": 0.22375928451517055,
+      "max_yaw_deg": 10.000001,
+      "derivation": "stance |dx|,|dy| <= 0.05 + fryer |x|,|y| <= 0.05 + fryer yaw 5 deg x robot-fryer lever; yaw 5 + 5 (group layer moves both)"
+    },
+    "composition_robot_world_max_abs_err": 0.0
+  },
+  "initial_stance": {
+    "robot_world": [
+      [
+        -0.983901048845526,
+        0.17871409032494767,
+        0.0,
+        2.926946097446102
+      ],
+      [
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+   "fps": 20,
+   "frames_expected": 2009,
+   "frames_written": 2009
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+ },
+ "contract": {
+  "frozen_manifest": {
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+   "sha256": "745e7905ec28a7ab9cf05ea822ce2cbb37e22d48231307e59a00ed7fd0402c3d",
+   "bytes": 567
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+  "contract_id": "airfryer_continuous_short_frozen_v1",
+  "process_rules_sha256": "523bff8879d6269f30f0694e07de42dab20c3d80afb646ed1855e65ca66893df",
+  "native_sha256": "3eb4da3bc40bd9f62b9d6e0657a8dc79b1268031085603ac0b9ee485e27e48e5",
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+  "rail_behavior": "release145_v2_persistent_instance_every_physics_step",
+  "rule_version": "arena.air_fryer.process.v2",
+  "phases": [
+   "2.1",
+   "2.3",
+   "2.5"
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+  "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
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+  "stage_budgets_s": {
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+  "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
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+  "deductions": []
+ },
+ "execution": {
+  "machine": "204",
+  "mode": "frozen_standalone_native",
+  "gpu_index": 4,
+  "gpu_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+  "peak_vram_mib": 943,
+  "cpu_limit": 4.0,
+  "memory_limit_gb": 8.0,
+  "wall_s": 596.0,
+  "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-A030_candidate_v1 XDG_CACHE_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.cache XDG_DATA_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.local/share XDG_CONFIG_HOME=/home/yuchen/openend_airfryer50_v1/s9/kh/s9_B2-A030_candidate_v1/.config CUDA_VISIBLE_DEVICES=4 PYTHONDONTWRITEBYTECODE=1 PYTHONNOUSERSITE=1 ARENA_PATHMAP=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1/pathmap.json ARENA_PATHMAP_LOG=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1/pathmap_misses.json ARENA_RUN_DIR=/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_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-A030_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": "2026-10-13T20:52:39.840240+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": "B2-003.a1",
+  "visual_status": "accepted",
+  "reviewer": "supervisor (Claude, main session)",
+  "limitations": [
+   "B2 (second batch): native execution ingested from S9's final full run /home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_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): 2009/2009 frames; render GPU 4 (GPU-380882d5-7b4a-e96b-4fff-7a48269c047a); review sheet render/review_sheet.png",
+   "visual review: visual_accepted by supervisor (Claude, main session) (review/visual_review.json, sha256 06e099c4e7bd08b2fc54ce514bd78254f70429b2c5a42d77190c10cbfee1c6df)"
+  ],
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+  ]
+ },
+ "counts": {
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+  "native_success": true,
+  "audit_pass": true,
+  "registered": false,
+  "visual_accepted": true
+ },
+ "b2": {
+  "batch": "B2",
+  "case_id": "B2-A030",
+  "plan_case": "R5L06s034A",
+  "layout": {
+   "layout_id": 6,
+   "layout_seed": 34,
+   "support_group": "dining_table",
+   "support_path": "/World/LargeDiningTable",
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+   "origin": [
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+  "slot": "outer",
+  "grasp_style_21": "ind_00067",
+  "grasp_style_25": "yaw_m90_right_006",
+  "strategy_21": "ind",
+  "strategy_25": "chest_pick1_yaw_m90_v1",
+  "hand_25": "right",
+  "stance_offset": {
+   "dx_m": 0.0157,
+   "dy_m": -0.021,
+   "dyaw_deg": 1.757,
+   "frame": "robot root (after group layer)"
+  },
+  "style_note": null,
+  "final_version": "candidate_v1",
+  "final_run_204": "/home/yuchen/openend_airfryer50_v1/runs/s9_B2-A030_candidate_v1",
+  "final_check_204": "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A030_candidate_v1",
+  "candidate_sha256": "10a302dfe2bdd358f5fa5f174bfd746d9f41c7c3b129d714df274f529e5acb3e",
+  "candidate_actions": 2062,
+  "unexecuted_candidate_tail": 54,
+  "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/B2-003/a1/audit/action_diversity.json",
+   "duplicate_trajectory": false,
+   "compared_with": [
+    "F004.a2",
+    "H000.a1"
+   ],
+   "action_full_sha256": "6d45ba89e298d61db7f16e4834b7a6845147a37686707fcc47080220224a24f6",
+   "measured_full_sha256": "45468de007e7b1a6d9aae7a0026b658035eec7d98890b1b7a86df144b91474bb",
+   "action_phase_sha256": {
+    "2.1": "cda31b717d7a954e8dc5c837ca541b97b04c8de7e3e637a8a020e8af20210686",
+    "2.3": "72b0729094465dc5f46e05779b19225baed78ae1f3f15b2fdf27c54ce8080436",
+    "2.5": "e7c14332f8e1d166ec4f38b8fa16d908c045af74fdc1415752832a1ebeed479a"
+   },
+   "identical_action_phase_with": {
+    "2.1": [],
+    "2.3": [],
+    "2.5": []
+   },
+   "max_joint_diff_vs_first_rad": {
+    "F004.a2": {
+     "2.1": 0.463689,
+     "2.3": 0.339182,
+     "2.5": 2.918537
+    },
+    "H000.a1": {
+     "2.1": 0.463689,
+     "2.3": 0.339182,
+     "2.5": 2.929966
+    }
+   },
+   "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": "5d46d9eb45127b23742443afc88f2dbac70450b992152f5140e7083de35863e2",
+   "bytes": 54700834,
+   "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": "2026-10-13T21:37:02Z"
+  },
+  "render": {
+   "gpu_index": 4,
+   "gpu_uuid": "GPU-380882d5-7b4a-e96b-4fff-7a48269c047a",
+   "peak_vram_mib": null,
+   "wall_s": 429.7,
+   "review_sheet": "samples/B2-003/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_000002/torch_device_check.json

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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000003/audit_pathmap_misses.json

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+   "/home/yuchen/openend_airfryer50_v1/s9/checks/B2-A028_candidate_v2"
+  ],
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+  ],
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+  ],
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+  ],
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+  "/home/lingjun/robot_agent_arena/api-protocol/evaluation/tasks/air_fryer/__pycache__/process_rules.cpython-311.pyc",
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000003/entry_inputs.json

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+ "queue_item": null,
+ "episode_id": "s9_B2-A028_candidate_v2",
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auxiliary/b2_canonical56/auxiliary/original_native_collection/auxiliary/source_raw/episode_000003/exit.json

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