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artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_dual_push_buttons/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_dual_push_buttons/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_handover_item": {
+      "task_class": "BimanualHandoverItem",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_handover_item`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item_easy/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_handover_item_easy": {
+      "task_class": "BimanualHandoverItemEasy",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item_easy/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_lift_tray/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_lift_tray": {
+      "task_class": "BimanualLiftTray",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_lift_tray/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_laptop/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_pick_laptop": {
+      "task_class": "BimanualPickLaptop",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_laptop/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_plate/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_pick_plate": {
+      "task_class": "BimanualPickPlate",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_plate/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_put_bottle_in_fridge": {
+      "task_class": "BimanualPutBottleInFridge",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_put_item_in_drawer": {
+      "task_class": "BimanualPutItemInDrawer",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_straighten_rope/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_straighten_rope": {
+      "task_class": "BimanualStraightenRope",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_straighten_rope/rollout_eval.md

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+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.json

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+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_sweep_to_dustpan": {
+      "task_class": "BimanualSweepToDustpan",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_take_tray_out_of_oven": {
+      "task_class": "BimanualTakeTrayOutOfOven",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.json

@@ -0,0 +1,185 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": false,
+  "plan_applied": false,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_pick_plate": {
+      "task_class": "BimanualPickPlate",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_put_item_in_drawer": {
+      "task_class": "BimanualPutItemInDrawer",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_put_bottle_in_fridge": {
+      "task_class": "BimanualPutBottleInFridge",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_handover_item": {
+      "task_class": "BimanualHandoverItem",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_pick_laptop": {
+      "task_class": "BimanualPickLaptop",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_straighten_rope": {
+      "task_class": "BimanualStraightenRope",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_sweep_to_dustpan": {
+      "task_class": "BimanualSweepToDustpan",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_lift_tray": {
+      "task_class": "BimanualLiftTray",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_handover_item_easy": {
+      "task_class": "BimanualHandoverItemEasy",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_take_tray_out_of_oven": {
+      "task_class": "BimanualTakeTrayOutOfOven",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.md

@@ -0,0 +1,22 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]
+- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0]
+- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0]
+- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0]
+- `bimanual_handover_item`: mean_success=0.000, returns=[0.0]
+- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0]
+- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0]
+- `bimanual_sweep_to_dustpan`: mean_success=0.000, returns=[0.0]
+- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0]
+- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0]
+- `bimanual_take_tray_out_of_oven`: mean_success=0.000, returns=[0.0]

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_dual_push_buttons/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_dual_push_buttons": {
+      "task_class": "BimanualDualPushButtons",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_dual_push_buttons/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_lift_ball/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_lift_ball": {
+      "task_class": "BimanualLiftBall",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_lift_ball/rollout_eval.md

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

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_pick_plate/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_pick_plate": {
+      "task_class": "BimanualPickPlate",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_push_box/rollout_eval.json

@@ -0,0 +1,31 @@
+{
+  "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt",
+  "plan_requested": true,
+  "plan_applied": true,
+  "planner_mode": "trainable",
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 20,
+  "resolution": 224,
+  "cameras": [
+    "front",
+    "wrist_left",
+    "wrist_right"
+  ],
+  "tasks": {
+    "bimanual_push_box": {
+      "task_class": "BimanualPushBox",
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "path_recoveries": 0,
+      "noop_fallbacks": 0,
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_push_box/rollout_eval.md

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